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I'd like to camp, but climb on machete
Do you own a portaledge?
Waldo, I say stock a camp up there, some firewood, tent, beer, lots of beer.
Get an early start and park at Old Pinnacles parking area (very limited parking). Hike towards the west side. I often find it is faster to take the Balcones Trail rather than going through the caves. I think Gavin's times could be greatly improved on if you are fast hiker. I would consider up to two hours to the start of Old Original either way.