Initially looked for camping along the South Platte at Happy Meadows but with a 1 year old, we figured campers wouldn't want to hear him screaming in the middle of the night or the cries of my wife as she struggles with her sanity. We pushed a little further north and took the right hand turn onto Matukat road. We drove a couple of miles up the decently maintained dirt road and found the second dispersed camping spot and decided to set up our roof top tent for the night. 

Looking at a map, it looks like the road goes on for quite a ways but we never explored past the spot we stayed in. Up to the point where we camped, 2-wheel drive was more than enough to get us to our spot nestled in the rocks. The dispersed camping spots we saw seemed very easy to get to and we never needed to put our truck in 4WD. 

Since these sites are dispersed camping, don't expect any toilets or amenities. Some spots did have pre-made (from campers before) fire pits and there seemed to be an abundance of dead wood but actual wood cutting in the Pike National Forest needs to have a permit so keep that in mind. We dealt with some crazy wind so a fire wasn't even in question. Be sure to check with the local ranger station before starting a fire in the area, especially since this is a burn area.