In Utah, we really like the campground in Buckhorn Draw (San Rafael bridge) in the North San Rafael Swell. It's accessible off the Temple Mountain exit #131 on I-70 between Green River and Salina; or east of Castledale off highway 10.
The campground is bisected by the river. The south side is pretty much just for tents and smaller RVs; the northern side for bigger rigs. Even better are the designated dispersed campsites on the road north of the bridge, and at The Wedge overlook (of the Little Grand Canyon.) People also disperse-camp along the Mexican Mountain Road, just east of the campground but it does have some rough bits.
The Wedge and Buckhorn Draw are accessible by graded, graveled roads. These are all dry sites, so bring all of your own water.
The San Rafael can get super-hot in mid-summer, but Fall and Spring are nice times to go.
The North San Rafael seems to be known mostly to locals. They may be there with their 4-wheelers, but there are lots of places to escape them.
Have you been over the Wasatch Plateau? Another beautiful area, cool in the summer up in the aspens, with loads of dispersed camping. The one paved road is HY 31 from Fairview to Huntington. I would check locally or with the USFS (Manti-LaSal) re the condition of the dirt roads which lead to the top of the planteau, which range from fine to scary. Their local field office is in Ephraim, UT.
If you've not done the Skyline Drive up there (with an SUV or truck but not towing) it is a beautiful experience.
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