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We like the North Rim much better than the South because it has all the beauty without the large crowds. Some of the best viewing sites do require a hike to get to. The campground gets filled early so follow Wendy's advice and reserve now.
Should you not get a reservation for the North Rim campground, there are boondocking areas just outside the park and there's a nice Forest Service campground at Jacob's Lake.
There are a few sites with views of the canyon. I reserved at the exact 6 month window and was able to get one. The campground fills quickly so I would reserve asap!