Anza borrego state park has a lot of room to explore. The park has campgrounds near borrego springs that are easily accessible. Visiting the mud caves you’ll need 4x4 or an AWD car with high clearance. Anza borrego has been my wife & I go to camping area for over 5 years. Camping is allowed away from main trails and we typically sleep near the mud caves or within the slot canyons. Perfect place to star gave and wander around & explore. Bring plenty of water/ off road safety (enough fuel/ shovel/ traction boards) as towing out of this area is extremely expensive. (Pictures are from fonts point/ random hikes near camping spots).