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> W Desert
With granite domes galore the likes of City of Rocks, though maybe a bit lower quality, the Minerals are isolated and desolate feeling. Few other campers and virtually no other climbers visit the strikingly rugged hills of Granite Peak and surrounding areas. There are plenty of domes to explore, so while the Rock Corral day use area has several climbing options, it is certainly not the only place to play out here.
While not a lot of information exists on the plethora of rock out here, James Garrett's West Desert guidebook will get you started. There are only a few routes listed there, and there are many more options for those adventurous enough to brave the choss and do some exploring.
The Rock Corral and vicinity of Granite Peak is a BLM special use area dotted with private land. Currently, the BLM is managing the special use area for free, and (as of 2017) is not charging any entrance or camping fees for using their facilities. Please respect the area, use the provided toilet (at the official camping area) and carry out your trash. The BLM has provided litter barrels, but every time I've visited they are overflowing with trash and camping is getting overrun with broken glass and litter.
From Milford, UT: Head South out of Milford, over the railroad tracks, and watch for a BLM sign for the Rock Corral to your left not long after the bridge. Nice new BLM signs point the way from here at each intersection. When the road splits for 'Rock Corral' and 'Camping Area', both lead to climbing options.