Going into Coyote Gulch via the crack in the rock offers a great view of the Escalante river. In my experience camping gets more crowded the closer you get to the famous Jacob Hamblin arch. I really like camping on the Escalante river just outside of the entrance into coyote gulch as there are some great sand bars.
This campground could be great, I went at probably the worst time in the late spring and the bugs were everywhere. Is is a pretty location though. The drive is fairly easy and parowan is just down the road.
Not a lot of people camp here which is great. I've never had a hard time finding a camping spot here. The few times I have, I will just go a few miles north to silver reef where camping is free.
There is camping all over the place here. I think is is best to get on the water early to beat all the house boats.
Millcreek is a great escape from the city. All the camping is backcountry so you can pick any trail and just make sure that you are 1/2 mile off the road and at least 200 ft from developed ares and water.