Kofa is so remote, quiet, void of people and amazing. We visited Palm Canyon off of highway 95 and drove 7 miles to the parking lot. The road is a bit rough so go slow. 4wd is not needed for Palm Canyon road but other roads might need it. At Palm Canyon, the hike up is about 25 minutes one way to where you can see the palm trees. I'd describe the hike as moderate some elevation gain and areas of loose rock. Wear good shoes.