I was lucky enough to get on a Selway trip last year. The whole place is a cool feature as far as I'm concerned. I didn't really participate in camp selection, but I was more than pleased with our camps. Ours were: Day 1: Little Goat Creek, Day 2&3: Tony Point Bridge (river right above the bridge) and Day 4: Lower Pinchot (above Wolf Creek). I guess if you have one of those fancy little color river guide books these will be easy to figure out.
At the Tony Point Bridge there's a ~4 mile one-way hike that takes you to the top of one of the peaks. I never recorded the name of the peak/trail - anyone??? It's a well established trail with, like, signs and shit, that starts on river right near the bridge, goes past the airstrip and up, up. There's an old tower at the top of the peak. That hike is well worth it and grants you an inverse vantage point of the magical wilderness.
Watch out for rattlesnakes.