it would almost have to be a leave friday, camp near Flagstaff, drive the rest of the way up in the early AM and then either go home late saturday or optionally camp on the rim of the canyon saturday night.

Whenever I go up to Utah or the north rim or really anywhere north of Flagstaff, that's how I do it - camp friday night near flagstaff (the "Ice Cave" has tons of great free camping opportunities nearby) - then camp Saturday wherever I happen to end up, then cruise home sunday evening