Dispersed camping for a nominal fee ($40 for 14 days; $180 for 7 months from Sept 15-April 15; free during the summer months) and within walking/biking distance of town, though you can hear the incessant hum of Interstate 10 on the northern most end of this area.
Services available on-site include a few pit toilets and trash dumpsters. By paying the fee, you also have access to both potable/non-potable water and a sewage dump at La Posa South, just a few miles down Hwy 95. You are allowed to stay in one place during the duration of your stay, or move around the region.
Be sure to register at the BLM office at the entrance to this area.
Gorgeous views of the surrounding mountains and very easy access to hiking and OHV trails. Sunrises and sunsets are endless and jaw dropping! Easy access back into town for food, gas, firewood, laundry, and just about anything an RVer or camper could need.
Check out this article for more info about the Quartzsite region: https://thedyrt.com/magazine/local/rv-campers-guide-quartzsite-az/