I camp around Sedona on Coconino Forest land frequently. You can drive up I17 and get off at the Schnebly Hill exit and camp to the east of I17 or even along the upper portion of the Schnebly Hill trail for the night and then drive down the trail to Sedona the next day.
Take a look at the Forest Service Motor Vehicle Use Maps (MVUM) available here:
Coconino National Forest - Projects
www.fs.usda.gov
All legally open roads are shown on the MVUM and the little dots along some roads show where dispersed camping is allowed. "Dispersed camping allowed" only means you can park up to 300 feet from the road - all other roads limit you to parking next to the road while camping.
You can camp next to the forest service roads anywhere that camping is not prohibited (areas shown on MVUMs).
See rule 11 on this page:
Coconino National Forest - Home
www.fs.usda.gov
When dispersed camping (or "car camping") on the National Forest, refer to the designated camping corridors shown on the
Motor Vehicle Use Map. In these designated corridors, visitors may drive their vehicles up to 300 feet from the road to car camp (
here's a sample of what those designated areas look like on the map). Also, visitors may park alongside any designated road's edge and walk to their campsite anywhere on National Forest System lands, except where specifically prohibited as indicated in
closure orders. When parking along a designated road, drivers must pull off the travelled portion of the roadway to permit the safe passage of traffic. These rules only affect
motor vehicle use. Forest visitors can always hike to campsites at farther distances from the roads.
East of I17 at the Schnebly Hill exit has better tall trees and fewer people. Schnebly Hill road has dramatic views and lots of people competing for campsites.
There are also a ton of campsites along forest roads to the South and West of Sedona.
Portion of the Sedona area MVUM. Schnebly Hill is road #153. I have seen passenger cars along the upper Eastern portion of 153.
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