Sentinel Dome is a Yosemite must do. This was our second time at Sentinel Dome, but we had some family with us that had never visited. The trailhead is on Glacier Point Road. This is also the trailhead for Taft Point. Parking is on the shoulder of the road for many cars although it gets crowded in the afternoon. The trail to Sentinel Dome is only a 2 mile easy round trip with only 500' elevation change. The last part is the steepest where you are actually hiking up the dome itself. From atop the dome you are rewarded with a 360 degree view. You can see Yosemite Valley, Yosemite Falls, El Capitan, Nevada Falls and Half Dome. My recommendation is actually to do the hike to Taft Point, then hike along the Pohono Trail to Sentinel Dome, and then back to your car, which would be about a 5 mile roundtrip hike.