If you want to camp near Table rock you can hike 4 miles up till you are off SP property and there are several nice camp sites within a mile or so of the park. Use the white blazed Foothills trail.
Jones Gap is nice and you can hike 20 min up to 1 hour and have your choice of nice camp sites. The only prob is the cost. Rangers there were very nice.
Hope you guys have fun.