Sonora sits on Highway 49, the Gold Country road that threads north–south through the Sierra foothills. The nearest large city is Stockton, roughly 75 miles west via Highway 108/120. San Francisco is about 2.5 hours by car via Interstate 580 and Highway 120.
There is no commercial airport in Sonora. The closest airports with scheduled service are Modesto (MOD), about 65 miles west, and Sacramento (SMF) or San Jose (SJC), both roughly 2.5 to 3 hours away. A car is essential — there is no practical public transport from the Bay Area or Sacramento.
Yosemite Valley is about 80 miles east via Highway 120 (Tioga Pass). The road is open roughly May to November depending on snowfall. In winter, Sonora is still reachable; the pass closes but Highway 120 west stays open.