For a great view over City of Rocks National Reserve and an opportunity to drive/hike in higher terrain than the lowlands around the rocks, try Graham Peak. Although an old road does go to the summit, it could be made into a nice hike.
Graham Peak
Distance: Drive-up
Elevation Gain: Drive-up
Summit Elevation: 8,867 feet
Access rating: Level 3
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Access:
At the western entrance to City of Rocks, a road heads north past Finger Rock and some camping spots. Soon the road enters Sawtooth National Forest. Follow the map at this point because I don't have mileages. The main road does continue north dropping off the ridge. Look for the turn keeping on the ridge and then an unsigned turn heading up toward Graham Peak. There is at least one cattle gate to open and close before the summit area. High clearance needed to drive up to the top.
Graham Peak
Summit from a false summit (didn't go through the gate)
The long hike from the truck
Cache Peak, the highest peak in the range with over 4,000 feet of prominence!
Summit cairn and a small communication site
Looking down on the City of Rocks National Reserve
Looking east
Views to the north