You can scale Mt Walkins from the valley, but it is a vertical climb. Here is a photo from Chris McNamara who commented "Tommy starting up the dyno pitch on the South Face of Mt. Watkins, Yosemite Valley. Clouds Rest in the background. Very very snowy for May." Only Gifted climbers should try this. The rest should use the trailhead from Hwy120.
Yosemite National Park: On the John Muir Trail near Nevada Falls - this branches to panorama trail and on to Glacier Point -- a spectacular hike best done from Glacier Point to the Yosemite Valley floor