Rather hard to find the road onto the correct road to get to the right road! Once headed to the west look for the sign taking you to the right into a dry wash. Follow the arroyo past a giant "bread loaf" that is a geological unconformity. Drive into an abrupt canyon with straight walls and side slots. Eventually you run into a rock wall that can be traversed by scrambling around it and continue 1/2 mile to a short pour-off. Camping is allowed but be aware of flash floods. It's a narrow canyon with only one way out. A parallel road just to the south of San Lorenzo Canyon is all on BLM land (dispersed camping). Pack it in, pack it out.