We only camp in the campground during winter when having a toilet is kinda nice. $5 is quite reasonable. There is a sweet trout stream behind the campsites.
The lake is about 2 miles off rt 33. Switzer lake. It's Harrisonburg's water supply.
The trails are tight. A full size will likely get a scratch or 2. Especially in the summer. If you are a stick to the pavement person probably not your place to drive.
The area I frequent is mostly in the Dry River Rangers District. There are topos. The rangers station in Harrisonburg sells them. But I'm sure they could be found online. The topo's are nice as they identify closed gates and trails. Some roads are only openb during hunting season. some have been closed due to trashing.
The dispersed camping is found by getting in the back country and saying I like this spot. Off limits places are usually marked.
JR I'll be in URE next month 22-26 at Arrowhead with my Isuzu group.