There is no camping that’s walking distance. Even Mather really requires a shuttle to the rim.

I wouldn't walk it.

It would be a long walk to any of the lookouts. But it also depends how far down this road you camp. Remember from this site you are not going in and out a national park gate. You are accessing the park from a non gated side road. So no dealing with any lines.

It is really too far to walk.