I run meetup hiking groups. A well run meetup could be exactly what you need... we go to Yosemite all the time since we are local to it. I know there is a very large meetup group in Sac that also goes there a lot, as well as a bunch of bay area groups, a monterey hiking group and a stockton area group.
Kids often hike fast. They're afraid they are going to miss something,
Funny thing is, that's why they miss things sometimes!
Check our our website: http://www.backpackthesierra.com/ Or just read a good mystery novel set in the Sierra; https://www.amazon.com/Danger-Falling-Rocks-Paul-Wagner/dp/0984884963
i usually bust out a hike at a good clip on the way out. don't care too much about getting blisters at that point, the pack is lighter, a beer beckons, and i've set myself up with a good fifteen miles or so to cover.
for some reason, i can't stand hiking to within a few miles of the trailhead and setting up camp. once i'm on my way out, i'm out.