Not between SF and LA, but...
You might want to have a look at a map. Napa is two hours' drive north of SF; that's fine. Death Valley is eight hours east of San Francisco; South Rim GC is six hours east of Death Valley; and Antelope Canyon (not Antelope Valley, that's something different and much less interesting) is two hours east of the South Rim GC.
Here, I sketched out the route you're talking about in Google Maps. This is a solid week-and-a-half's touring right here.
You've got a couple of options:
1) Ditch Yosemite and Death Valley. Fly SF-Vegas; rent a car out of Vegas; do the Grand Canyon, Antelope Canyon, and maybe the Painted Desert and Meteor Crater since you're out that way. Drop the car back at Flagstaff or Las Vegas; fly from there to Los Angeles.
2) Drive SF-Yosemite-Death Valley-Vegas, and do the above-mentioned loop from there. Drive back from Antelope Canyon to Vegas, then to Palm Springs, then to Los Angeles and dump the car. This would be my preferred option, but it really depends how much you like driving, because this is nearly 3,000 kilometres. I
love road trips, so I think this is a fantastic idea; my 70-something parents did basically the same trip in April of 2016, going even further into Colorado and New Mexico; but your mileage may vary.
Depends a lot on where you rent out of (SF is more expensive; Las Vegas is cheaper); and whether you do a loop or a one-way rental (one-way is a bit more expensive).
Avis is showing me $600 USD for a two-week rental, SFO-LAX one-way, of a Ford Fiesta hatchback; something with a bit more space is going to run you closer to $900 USD.
The same rentals out of Las Vegas as a loop (so dropping back to Vegas as well) are weirdly a bit more expensive: $50 cheaper for the hatchback, $50 more expensive for the larger cars. I have no idea why larger cars are more expensive out of Vegas, but there you go.