You can camp wherever on BLM...except where they say you can't. I dug out some pics of a trip we made in . 2010.. We actually had shrooms on this trip but (much to my buddy's disappointment) I didn't feel it this go around and was actually very tripped out without em....camera in hand..lotsa joints and some beers...
As I say..it's a magical/trippy place without drugs. I tripped the first time here and then went back and just hiked the second time,,,,to make sure it was real....
My truck is parked just inside where I found (on my last trip in probably 2014 or so)...there are now posts/barriers. I don't think they are really trying to stop you from camping...nobody is up in there to stop you anyway...but where my truck is parked is the start of a boonie road that had those cliffside camp spots along it....and I think they blocked it off to stop folks from driving in/tearing things up further.
Where the road veers off to the right and down the hill is where you go to get to the closest parking to the Arches. From there it's still a mile+ or so hike to get to the sandstone outcrop where the Arches are. When you get there you can hike on top of them...then drop down and walk up under them on the return....or vice versa.
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I love the West. So much variety...so much elevation change...so few fuckheads. (but we do have idiots and CORPORATIONS who fuck up shit like this cus they aren't being watched/can...and IMO...folks like that should be buried out here in shallow graves...)
but I digress. Don't wanna get started talking about stupid....
Yer gonna freak....