Close to the city, deep in the wilderness
Reservations are necessary, as many people grab these spots, and often for long stays (14 day maximums). Due to extreme heat, I recommend visiting in the fall. Winter, spring, and summer can tend to very uncomfortable.
Loved the variety of hikes here, anything from easy to medium-difficult. The individual sites are pretty small and hard to put a tent anywhere but the paved drives into each nook, much of the ground is covered in small plants and cacti. There's a picnic table/bench thing at each spot, plus a fire pit grill (which is the only place you can burn). Bathrooms and showers are on site and worked great during our stay. Bring plenty of water to hydrate with!