Hello BenJJ
I live in Shelter Valley just north of Blair Valley. We go hikin out there a lot. Marshall South home is cool. A bit of a up hike(on a trail) but once you get up there-GREAT VIEW
The pictographs are cool too. Go to the second one's,their better. You can camp anywhere you want. Pick a spot. Just no ORV off road or trail. I don't know about dogs(don't have one) but I wouldn't worry about it they don't patrol it much. Best of all,it's FREE
Don't know when your going but it's a beautiful day in the neighborhood today. If you plan on overnighting it,bring your jammies,it gets COLD! I don't know about an open fire
You can stop at the community center and ask CalFire.
Have a Safe and Happy New Year and have Fun