This was a great day with a fun group! We drove out to Peeper Benchmark first. We ascended & descended roughly from the West. We loaded back into the Jeeps and drove to Yucca Camp Road, where we started part 2 of our hiking day. We parked near the base of the north ridge of Yucca Camp Mountain and followed that ridge up. This was way more fun that any of us thought! It was a nice, exposed class 3 pseudo-knife ridge, with great views along the way. This was the highlight of the day. We descended to the SE, to the saddle between Yucca Camp Mountain and Midway Peak, then ascended Midway Peak via the West slope. Nothing special here. We were going to make our way over to Pilot Mesa as well, but decided to call it a day while we were all in good spirits.