No roped climbing is allowed at Castle Rock wayside. People solo to the top most spot all the time. It's kind of neat and easy for the most part. There are holes for hand and feet in places that have been carved out. You could climb in some places there. The open faces may have the best options but overall the rock quality is poor. The other area you asking about is Mill Bluff State Park and it's one of the state's best kept secrets in my mind but sadly very much off limits to climbing as decreed by the park service... The rock quality at MBSP varies from crapolla to very excellent but no matter at this point... it's been deemed a State Natural Wildlife preserve. Place is absolutely thick with wood and deer ticks though if you decide to visit and hike around so beware and protect yourself. The hiking there is great and you are usually alone.