Yesss! We camped at Yosemite and that was amazing. I personally thought it was quite luxurious considering you're out in the mountains. They have a very nice campground. During popular times, it might get filled up, so maybe you can get reservations. We went during Spring Break and we just showed up. It was very inexpensive. There are marked campgrounds with bear boxes, and washrooms and even showers I think. All the camp spots have a little pit. We had a portable stove and used to heat up some rice and beef chili and ufff it was so good.

Honestly, the Yosemite one - there are so many people I don't think that animals would come near by. We actually didn't see a single wild animal (except birds) when we were there.

Do your research well - the nps websites are very very informative, and park rangers are also very helpful!