I did a day hike to check out the area for possible backpacking trips. Hike the entire loop trail and did some exploring in several side canyons. Overnight camping is allowed at higher elevations and a permit is required. I have done a few trips since then. Be prepared to see wild burros and big horn sheep!
Best time for a day hike is on weekends, and not in summer, although I did a trip in July 2012 and temps were well into the triple digits. No water is available most of the year.
There is a loop trail (approx 12 miles) that is very enjoyable. But there will be cars and people at the vista points. But most of the trail is usually empty. Here are some pictures.