This is a FREE BLM camping area.
There are multiple places to pull off along Vulture Mine Rd that have dirt roads that you can take further back. We made a couple of attempts in our 26 ft Class C and almost got stuck and had to back out so be aware that some of the roads look good then suddenly become impassable with no turn around. We ended up near the Vulture Peak trailhead with an easy pull off and a view of the peak (33.880550,-112.820176).
There is no water or garbage so pack in and pack out and pack out more than you brought in if you feel inclined. There is a pit toilet bathroom at the trailhead entrance. This is also an ATV area so watch out while hiking because most thought they had the right of way.
There is good hiking to the peak and across the street there is another access to hike in. There is some road noise but it is not too bad., overall a quiet place. This is a trailhead so there is a lot of day use traffic of vehicles, ATVs and hikers but the nights were quiet and pleasant. Chollas are everywhere and we constantly had to pick them out of our dogs so be aware. We did not see any wildlife except some birds but heard coyotes every night.
Note: There is a nice spot about 3 spots in that has an old table and a couple of broken chairs sitting in it. No one came into that spot while we were there for 7 days so though it looks like someone is saving a spot, but I think unfortunately someone just left a bunch of junk there.
Decent Verizon and AT&T coverage.