Just to clarify, Goblin Valley itself is a state park. The roads are paved within the park, there's only hiking trails. There is a campground, but it's more for RVs and is paved.
There's BLM dispersed camping right along Goblin Valley Road south of the turn-off from Temple Mountain Rd that is RV and 2WD van friendly, but it's exposed. The views are good if there's no one else around but it's always windy when I've been there.
So how close to it do you expect to be and how much time do you think you'll spend at Goblin Valley and generally? Thinking of Little Wild Horse canyon?
How are you camping? IOW, do you need to accommodate a less-capable trailer or would a sightly more difficult road be doable? There's many options depending on what you're intending to do.