The parking was riverfront and right off the highway. There are vault toilets, a boat ramp, and a picnic area. There was only one other vehicle camped there (out of 6 campsites). Each campsite comes with a flat tent pad, fire pit, and picnic table; and each campsite is right on the Arkansas River.
Funny story: I found it by accident. I was actually retracing my steps back East from Salida, looking for the BLM designated dispersed camping area just East of town. I overshot it by a far sight. Fortunately, Rincon was far less crowded, and we were able to enjoy the quiet.