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Hiked in Kings Canyon and Sequoia years ago for 10 days. Was up near Mt. Whitney and Eagle Scout Peak. Didn't see much of the actual facilities in the park. But it was beautiful and uncrowded back there.
If you go to Yosemite, I second the vote for Curry Village (though I was in a wood cabin not a tent). Take some time out of the beautiful but crowded valley - head up for a day hike in Tuolumne Meadows or go down to Mariposa Grove for big Sequoia trees.
Tougher hikes range from 4 mile trail to Glacier Point (what a view) to hiking up the backside of Half Dome. Depends on your time frame and interest in strenous climbs. You can take a shuttle from the valley to glacier Point and hike down 4-mile trail. This is pretty and much easier than going up and back if you have little ones.
While it is easier to fly closer to Yosemite, if your kids haven't been out there much, I think SFO makes sense just to show the family the city for a day or so.
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