I hiked in from Tenaya lake with friends and took the low trail around and below the summit and made my way towards the lower Pinnacle and gained the summit by staying mostly on the ridge. I climbed a gulley up the S.E. face of the second and higher Pinnacle but found the N.W. face a much better route while making my way down. I continued up the ridgeline for a pretty fun traverse and some cool sections of scrambling which put me right on the trail and up to the summit of Clouds Rest.