If you like camping with turds nearby, toilet paper floating in the breeze and heaps of other rubbish - then Bungleboori Camping Ground in the pine forest is ideal. Oh - and you need to remember that there is no toilet anymore - it kept on being vandalised - e.g. winched over by 4WD's, so it was removed.
On the other hand - nice bush camping at Barcoo Swamp - which is just off the road to Galah Mtn - but that is a fair way out on the plateau.
And nice camping near Birds Rock - just off the road to Sahara Point. Camp about 100 from the turn off to Birds Rock.
Very nice camping about 100 m out along the track to the Dry Canyon - but again a fair way out along the road - and close to the tunnels.
The Bung Crag campsite is small and a bit rocky, and a with some rubbish nearby.