we did a late afternoon walk, it was absolutely gorgeous, and yes it costs $5 to park at trailhead

great half day hike if you're in the area

I strongly recommend to start with Ding, just more interesting that way.

The walk to the canyons is kind of a little boring, but once you're in the canyons, it's lots of fun scrambling and jamming. Climbing skills will come very handy, even more efficient if you bring your own rope and harness.