FR 291 is a somewhat primitive road - lots of big puddles. I would want some clearance for a vehicle. Our Toyota Highlander made it easily. We found 2 campsites with fire pits right off the end of FR 291. Easy stroll to a clean brook for filtering water. Very quiet, though we could hear the occasional dog barking from houses in the Downingville area. There are probably more sites, but really liked the first one we found. Great trees for hammocks.
Day 2 we walked past the gate beyond the end of the road followed a trail up 500 feet or so of elevation in the foothills to the west of Mt Ellen. Found one more camp site. Road/path had a big blowdown, but looked like some ATVs had been up it in the last few months. Pretty walk, lots of mushrooms.
Saw no bear sign, but kept all food in car as a precaution.
Lincoln General Store is 3.5 miles away via Downingville. Some modest resupply options there.