The views are amazing, it is an awesome place to visit, but I would recommend against camping, at least on weekends.
There are people whose idea of camping is sharing their music with everyone well into the night and can't respect a shared space. It ruins the experience. If you can go during the week when few, if any, people are there, that's the key.
The drive itself is an adventure, but doable in just about any car if it hasn't rained, or isn't going to rain. I would still recommend some kind of SUV. We did the trip in a CX-5 and a Santa Fe. If you have ever driven to Peralta trailhead, it's a lot like that except...... It's 20 miles long (about an hour), Get off at exit 337, go to FR532 and turn left at 231. Take that all the way in. Google has the route. It starts out smooth and dusty, progresses to washboard then becomes single lane and very rocky in some parts. Drive slow and avoid the larger ruts and you should be ok. It was tense toward the end as it got rockier, but like I said, an off- road vehicle is not required when dry.
We lost service about 30 minutes in, but the map kept tracking us. We regained signal near the top (Verizon - no, not an endorsement).
You'll get to a fork in the road that has a map posted. Continue straight past the map. Just when you think you are lost and can't find anything, the sites will start to appear. Keep going, don't settle for the first few. The views toward the end sites are well worth it.
Oh, by the way, there were cows lowing at around 4:30am one morning and it was unsettling, but, they are cows.