All of the roads in Yosemite National Park are scenic, but the most famous scenic drive is along the Tioga Road, a 39-mile (62 km) drive from Crane Flat to Tioga Pass. The road is typically open from late May or early June through sometime in November. (Check current road conditions.)
The Yosemite Road Guide, available at visitor center bookstores, contains descriptions of each road inside the park and includes suggestions of where to stop along the way.
Some typical driving times from Yosemite Valley: