As stated, there is a large parking lot at the TH that you could camp in your car. However, there is no tent camping at the TH. You can hike in just 5 minutes and find a few flat spots within the switchbacks. You can also keep going about 25 minutes from the parking area and you will find many camping areas all the way to the signed turn for Yale. If you continue towards Mt. Yale, you can find at least three good campsites within 15 minutes from the signed turn. This would be between 45-60 minutes from the TH for most people.