If you don't mind a little off road (almost) drive down some less than smooth USFS roads, there are a few canyon overlook camping spots east of the highway between Jacob Lake and GCNR. Check for specifics/details at any of the "free camping" websites. I'm not sure if a NPS annual pass is required to stay at these places, but it might be, as they are USFS, I think a part of the NPS family of locations? FR611 is supposed to be a good one. When in doubt, scout it out, first in a smaller 4X4 vehicle. We started down it, same trip, and decided it wasn't worth the risk after it got really rutted. We didn't have the Wrangler with us, so we passed.
There are also a smattering of commercial PPU campgrounds along the same roadway, west side, if you prefer something a little less "Bohemian".
Mike. Comments are anecdotal or personal opinions, and worth what you paid for them.
2018 (2017 Sprinter Cab Chassis) Navion24V + 2016 Wrangler JKU (sold @ ????)
2016 Sunstar 26HE, V10, 3V, 6 Speed (sold @ 4600 miles)
2002 Roadtrek C190P (sold @ 315,000kms)