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Depending on which map you use, it may look as though FR 516 ends well before the campground. Actually a very well-maintained, smooth gravel road leads all the way to the Art Lilley Campground. While there are a few ruts here and there, the road is suitable for cars with or without four-wheel drive.
There’s no fee to camp at Art Lilley, but you must obtain an OHV pass prior to heading off-road on any motorized vehicle. Passes can be obtained at the ranger station or at self-pay stations at some but not all of the trailheads. There is a nominal fee to obtain a pass (good for one day); seasonal passes are also available.
