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perhaps something like parking near where Highway 12 crosses the Escalante, walking the use trails along the river upstream as far as you're interested in going, and then finding a place to camp.
I think that's a great idea ... there is an arch, a natural bridge, a large ruin, and some rock art, all within 4 easy-walking miles of the Escalante River Trailhead ... and if you wanted to get off the sandy trail, there would also be lots of fun to be had walking in the river along this stretch, although the water may be a little chilly at that time of year ...
Yeah, I was thinking along the same lines. I know it's not what the OP was asking for, but car camping near goblin valley is perfect for kids of any age (tons of short-ish day hikes of various difficulty levels in the vicinity)Goblin Valley
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