They accept take out.
Exploring the park can range any where from a half day drive to a full day excursion. We do recommend looking at entering the park through the alternate choices of 29 Palms, or East of Palm Springs/Indo on the 10 depending on your plans. A recommended option for a quick hike is the Black Rock Canyon Campground area. It is central to Yucca Valley, there are numerous trails, no fee for entering the park here and there is plenty of parking. This is one of our favorite places to go for a hike. https://www.nps.gov/jotr/planyourvisit/upload/BlackRockTrails.pdf