You can camp anywhere as its all state forest, no idea why people camp at the pines (ie Bungleborri campground). Last time I was out at Sahara pt (ie Crag x) is was freshly graded....but even before that an X trail would have no issues....i had a Suzuki Sierra when we did it.
As with both cases you need to take water (pretty much the norm for the plateau) ..though with recent rain a few steams will be flowing.....note water available at old zig zag railway if you need a refill.
Both crags tend to be out of the way of the trail bikers and 4wds circuits so pretty quiet.