Christi, the 23-mile roundtrip from the campsite back to the highway would take about 2 hours. If you're really nice to someone, they might be willing to meet you. To be honest, the trail isn't that difficult. It's steep in some places, but doesn't require any spotting.

When we went last year, the toughest part was getting to the trailhead.

The first place it's easy to get lost is just after you pass through the town of La Porte. Make a right turn at this intersection. The main road ascends slightly uphill at this point, and the turn isn't clearly marked, so it's easy to miss. If you end up heading towards Little Grass Valley Reservoir, you've just missed the turn.

The Cleghorn Bar trailhead is a left turn at this intersection . Again, the turnoff is easy to miss, and occurs after a long left-hand sweeping curve as the road ascends.

While driving on the trail, stick to the main, more well-traveled road. The campground is located here .
_________________________
4x4 in uppercase is $X$!!!
1997 R50: VG33E/RE4R01A/TX10/3.7/R200A/ARB/4.636/H233B/ARB/4.636/321150R15