Yosemite day trip? How does it work..

If I were to pop into Yosemite for a day or 2 this week to meet some friends would I need to get a reservation? 

Even just for a day? Some beta would be helpful here!

Reservations are needed this year for Memorial Day Weekend, June 15 - August 15, and Labor Day Weekend. Otherwise not needed. Or you can drive in really early to avoid need for reservations.

https://www.nps.gov/yose/planyourvisit/reservations.htm

What about YARTS ?

Gerald Adamswrote:

What about YARTS ?

Walking, riding a bus, saddling up a horse, having a wilderness permit, lodging reservations, Not Flying in nor skydiving: Use Reservation is included, separate Day use permit not required.