Estrella Mountain Regional Park feels like it’s out in the desert, but it’s close to everything. It’s right down the street from Phoenix International Raceway, so you can go see a NASCAR race. It’s right next to a rodeo arena, and there’s usually an event scheduled there if the weather is nice, and it’s flanked on the west side by a golf course - a win for everybody in your camping party.
This feels like the most “park like” campgrounds in the Maricopa County parks system with big expanses of grassy fields and eucalyptus trees, and it has a huge collection of shaded playground equipment on the east end. There’s lots of open camping areas that are often used by scout troops and other groups, and numbered campsites along the southern edge of the “flat” park, up against the base of the Estrella Mountain range. Campsites are typical for the county parks system.