Well maintained but also well traveled dirt road.  No camping signs are indeed posted, including not within 1 mile of the Rock.  Barely can hear 191, dark dark skies, next to an arch, within an agate collecting area, yes please!  But limited places to set up, free range cattle have fences up and gates closed.  If you don’t feel like roughing it, a $500 per night glamping site is on the other side of the Rock.