Peaceful...but..
I stayed at these sites for 2 nights. Easy to get to with lots of Saguaro cactus to enjoy! Felt safe but I did run into several folks who warned of nearby human trafficking rings. As a solo traveler this made me feel pretty uneasy, so I left the following day. If you are traveling with others I would definitely recommend checking it out. Raccoons will try to get into your food if you leave it out. Lots of coyote scat.
Dispersed camping with interstate nearby
Great spots, depending on the road you take you may need 4wd. Easy access to interstate.