If you look at the map, it's about 7mi to drive through VoF. Theoretically you could launch a P4P from outside the park boundary, then drive through the park and control the craft from inside the car, from the passenger seat of course. Who would know? LOL. Yes, that's not exactly legal unless you flew it autonomously with Litchi. Technically I think that would be legal, am I wrong?
It would be best to launch after you get past the west park gate, driving East. That gate is actually OUTSIDE the official park boundaries. Then fly East during the golden hour, past the eastern boundary. Or, if you get there at daybreak, no rangers are around anyway until 8am, I think. You'd have an hour to fly, which is what I think the OP did to avoid conflict.
I certainly don't recommend doing this, but it's plausible to do, and it would be pretty safe IMO.
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