Right now, you're restricted to the valley, because Glacier Point road is closed on account of:

snow
seen from Sentinel Dome, near Glacier Point.
webcam pic courtesy of Yosemite Conservancy https://yosemite.org
During busy times, you'll need a reservation. Dates given at the link below:
https://www.nps.gov/yose/planyourvisit/reservations.htm
"Worst" case, you can make day trips via the YARTS bus from Mariposa (There's free parking available.)
(your bus fare covers the higher entrance fee) and valley shuttle busses are always free.
The bus route on Highway 140 starts in Merced, but costs more from there and I can't vouch for parking.
https://yarts.com
Entrance is free for seniors who bought a senior pass, and for veterans. (Show your pass or Veteran ID)
Senior passes used to cost $10 (I got one) but they went up to $80/lifetime, or $20/year.
https://www.nps.gov/orgs/1207/11-8-2022-lifetime-pass.htm
Veterans can present one of the four forms of acceptable ID (Department of Defense ID Card, Veteran Health ID (VHIC), Veteran ID Card, or veterans designation on a state-issued US drivers license or ID card) at participating federal recreation areas that normally charge an entrance fee. Gold Star Families obtain information, self-certify they qualify and download a voucher on NPS.gov.
See also:
https://www.nps.gov/planyourvisit/veterans-and-gold-star-families-free-access.htm
Free days! Expect lots of visitors except Jan 15 (check ahead and bring tire chains)
Monday, January 15 Martin Luther King, Jr. Day
Saturday, April 20 First Day of National Park Week.
TOMORROW
Wednesday, June 19 Juneteenth
Sunday, August 4 The Great American Outdoors Act
Saturday, September 28 National Public Lands Day
Monday, November 11 Veterans Day
Road conditions ( tire chains or not? )
https://www.nps.gov/yose/planyourvisit/conditions.htm#roads
Call 209/372-0200 (press 1 then 1) for the most up-to-date conditions.