We camped overnight in the car at Gray's and Torrey's peak trailhead at the top of Steven's Gulch Road to do the hike in the morning. There were a few pull offs lower down on the road, but the majority before the trailhead is all private property.

Others have said the road isn't great and recommended 4WD, but let me tell you, it was rough in my small, AWD SUV.

The trailhead lot has a number of dispersed camping sites and fire rings, some offering more privacy than others. Do note that on the weekends (we stayed Friday night into Saturday morning) that the lot fills up early in the AM and some people have no social awareness of their volume level. We were woken up by a constant influx of hikers starting around 330-4.