Desert Creek is also a very nice area. A nice small creek for the kids to play in. 4 or 5 water crossings on the way up the canyon. It's usually well stocked with trout. Some old cabins and mining equipment to check out if you go a few miles up Risue Canyon. There is a campground with tables, fire pits and restrooms if thats your style, or lots of camping sites all the way up to the top of the canyon. Down towards the bottom of the canyon there are lots of indian pictographs to check out! My favorite campsite, if your coming up from the bottom of the canyon is down below the first creek crossing right after the cattle guard.
All of this is well within the means of any stock 4x4. When I was in high school, we used to camp just below the first crossing and wait for people to get their cars stuck in the water, and offer to pull them out for beer. It would always result in at least a few free six packs!