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We've stayed here twice now. Once in a huge 36 ft toy hauler and now in our 26 ft Class C RV. It's a long dirt road that has a few big bumps, but if you're going slow it's passable in almost any vehicle. There are 13 official camping spots with plenty of room to accommodate a big rig. However, it's important to send a tow car down there to scout there is very little room to turn around at the end if all spots are full! Super quiet with beautiful views overlooking the Mesa. About a 5 to 7 minute drive to the visitor center.
See more of this campground: https://youtu.be/7SOZuWtdElM
Nice dirt road, about 15 or so "sites" which are just pull-outs and the occasional fire-ring. A few signs here and there forbidding parking probably to keep erosion down and let the scrubby desert do its thing. The only downside was that you can hear the highway fairly clearly while you sleep. All in all - a chill spot to pull off for the night.
Across the main road entrance to Mesa Verda offers camping for all. Nice sites for RVs and tents. No hook ups. Dispersed camping at its best.