Am I visiting (going to) Yosemite, or driving around it?

Well that depends, did you visit it or drive around it? These are fundamentally different things. Did you go there, enter the park, stay inside the park for a time and leave? Then you went there. Did you never enter the park and literally drove around its perimeter and went back to your starting location? Because that’s driving around it.

We are not going to the moon with Artemis II, we just aren’t.