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Grant was implementing a version of McClellan's plan. McClellan and Grant were probably not the adversaries history portrays them to be. When Grant got elected, McClellan went to Europe. When McClellan wanted to get back into politics, Grant went on a world tour.In fact Grant's movement from Cold Harbor to Charles City was almost exactly the same as McClellan's. Gaines Mill was fought in the same area as Cold Harbor was in 1864, and in 1864 the rebels used some of the same entrenchments that McClellan's men dug in '62. Grant's move to the James placed his army about a mile further east than McClellan's.
McClellan's strategy post the move to the James was identical to Grant's. He intended to cross the James and seize Petersburg. He sent Marcy off to Washington immediately after Malvern Hill to brief cabinet of his intent, and to bring back the pontoons for bridging the James. The government started getting involved in naval gazing. They would not approve the pontoons, and they ordered reinforcements already en route to McClellan to wait at Fort Monroe. Lincoln went in person down to the James and met McClellan, who explained his plans. He'd already explained them to Burnside, who was to lead the move over the James. Burnside's command would seize the right bank of the James opposite Harrison's (Coggin's Point), and cover the pontoon bridge being built whilst transports shuttled reinforcements over. They then make a run for Petersburg.
Lincoln came away from his visit unconvinced. He'd always disliked the army being in SE Va, and McClellan was going to take it further away from Washington. He signaled for Halleck to come take command, and Halleck killed the movement (which McClellan had begun even without the pontoons or Burnside, elements of 3rd and 5th Corps had seized Coggin's Point, and his cavalry had recce'd Petersburg). Halleck ordered the James abandoned, against McClellan's protests.
Two years later Halleck would write to Sherman about what a terrible mistake Grant had made in crossing the James. This time however he was powerless to stop it. I have zero doubt that had Grant had the same status as McClellan then Halleck would have ordered him back to Washington with his army in June '64.
Grant's summer home was in New Jersey.
They never confronted each other in public. The essential difference between Grant and McClellan was that Grant absolutely never criticized Lincoln. It was like not swearing and it is a terrific demonstration of self discipline.
Oddly, I think they both died in 1885 within months of each other.
Sherman, Grant and Meade knew they were putting McClellan's plan in place.
In addition Grant tired of Halleck and essentially dropped him from his memory.
There is nothing wrong with McClellan's plans. He did not have the operational experience to make it click, but neither did anyone else fighting for the United States in 1862.