There is free camping above lemon reservoir, it is about 30 minutes out of town. Head up Florida, go past Lemon and stay straight on the dirt road just after you see a left heading into Transfer station. It is mild 4x4, i did it once in a eurovan. They are primitive, but are close to the river.
If you are hitting Vallecito there is sweet pay camping at the take out/beginning of the hike to the put-in.
there is also a pay campground up at lemon at the take out to Miller ck. with some amenities.
If you get skunked, PM me, my house is on the Florida and I've got a couple acres.
Life is either a daring adventure or nothing. Security does not exist in nature, nor do the children of men as a whole experience it. Avoiding danger is no safer in the long run than exposure. - Helen Keller