Outside the Fire Ban period [Dec - Feb], camping should be OK in most off track locations - but given the way parks are becoming walker unfriendly, I am not sure this is stated anywhere anymore.
But the park is fuel stove only.
There are a number of camping sites which need to booked for a fee.
Inside Wilpena Pound is a walkers site at Cooinda Camp - but a fee of $18 applies.....wow!! [There are no facilities - it was free on the 2016 pamphlet]
See
https://www.parks.sa.gov.au/booking#Ikara-Flinders%20Ranges%20National%20ParkFor a wide view map -
https://www.parks.sa.gov.au/files/sharedassets/parks/parks/flinders-ranges-outback/ikara-flinders-ranges-national-park/ikara-flinders-ranges-national-park-map.pdfAroona Valley has the Aroona and Acraman sites in the above booking list.
But you could check out my walk report from there:
http://new.bushwalk.com/forum/viewtopic.php?f=49&t=26265Rawnsley Park is a nice private campground and you do the Rawnsley Bluff walk from that property.
I recently visited Wilkawillina and found it surprisingly beautiful.
We bush camped there but were very aware of not being conspicuous or leaving any trace.
It does not have any official campsite.