The Red Canyon trail goes to the saddle between Gallo and 10057. Hang a left and head south. Follow the trail as described. This might seem obvious from the page, but there is actually a trail here in the Manzanos to follow. That is not such a trivial thing as the Crest trail in the Manzanos either disappears or flatly, doesn't exist (in sharp contrast to the map) in many places. Here the trail happens to exist and will take you to within 0.15 or so miles of the summit. The view isn't great from the summit, but slip though a few trees and find an outcopping that gives you a solid view of the Southern Manzanos and the valley and valley to the Southwest.
I believe the parking area sits before the camping fee area. So it should be free. It pretty clearly marks the camping area, after, the trailhead parking area.