Google map satellite view:
https://www.google.com/maps/@29.707549,-101.350129,632m/data=!3m1!1e3Yes, on east side of bridge. Rest area to south and small pull off on the north side of the road.
Judge Roy Bean's "Law west of the Pecos" visitor center in Lantry (free) is worth a visit-- plenty of parking.
As is Seminole Canyon SP a little further east on U.S. 90. Depending on day, they run tours down into the canyon to see 1000+ year old indian cave paintings:
https://tpwd.texas.gov/state-parks/seminole-canyonSeminole Canyon also has a nice CG.
