Took me a minute, but I finally figured out your route. So you drove past Jackson Creek (502) and then turned left on Dakan Road (563) which is basically across from Long Hollow Gulch (348). The looped back around counter clockwise and came back to RRRoad.
I believe there is some camping north of the Watson Park turnoff on Dakan Road, but I can only recall 1 or 2 places.
Next time you're up there you should take Long Hollow Gulch Road (348), it's pretty neat down that direction and you can end up in Woodland Park if you drive it far enough.