Kartchner Caverns is a nice state park south of Benson with a nice sized campground. The visitors center is next to the campground and offers tours of the Caverns which is an interesting tour, you basically get hosed down before you enter the cavern (not quite but almost). You also aren’t far from Tombstone to enjoy some western fun!
Campground: Kartchner Caverns State Park
Location: Benson, Arizona
Comments: Nice hiking and a nice campground.
Link to Map in “Where We’ve Been”