The road is unmaintained sand/dirt, with lots of rocks. 4×4 recommended, SUV/truck clearance recommended. A minivan has done it, but not without bottoming out. Fortunately, they did not get stuck. The sand/dirt road is very slow going. The highway is 2-lane, decent, watch for potholes. Popup canopies recommended in case of rain.
No services; bring your own water and toilet.
The Domelands trail details: https://www.alltrails.com/trail/us/california/the-domelands-trail
USGS topo map: https://ngmdb.usgs.gov/topoview/viewer/#15/32.7936/-116.0791
Meeting point is the Chevron gas station just off the freeway: https://maps.app.goo.gl/zDnvegSkQ4peujfy6
The Domelands Trailhead is located here: https://maps.app.goo.gl/f3DMZbvpr4dVhF237
The Domelands Trailhead turnoff is here: https://maps.app.goo.gl/NCqd1Zj9MSgnt9Tz8
Closest Emergency Room: https://goo.gl/maps/GL3zxYQE8Y4WKm2z6
Camp at the fire ring (circled) up on the high ground. Avoid the low ground in case of rain, and avoid the canyons in case of flash floods.
January is an ideal time to camp and hike this trail.