If you are not too picky there are several places you could pull off from the rd and camp. A few right off young hwy to the east side of parker. A few small pull offs along the rd to the jug. The pulloffs to the jug will be dusty because you are right next to the dirt rd. Near parker you could get away from the rd a bit, plus the rd is paved there.
Hike Arizona it is full of sharp, pointy, ankle-twisting, HAZmaster crushing
Hike Arizona it is full of sharp, pointy, shin-stabbing, skin-shredding
Hike Arizona it is full of striking, biting, stabbing, venomous