You might want to try camping south of Tahoe too. There are some good creek side campsites along Slick Rock road near Lake Alpine on Hwy 4. Slick Rock turns into an extreme 4X4 trail (class 5) half way through, so you may not be able to get all the way through. Near there are a couple other lakes good for camping; Utica and Union reservoirs. They are on forest service roads, so the Vulcan can make it.
If you want guided rides (free), sign up for the emails from Cycle Specialties (BMW & Triumph dealer) in Modesto. They do both street and adventure group rides all the time, and all brands are welcome. Their business philosophy seems to be "welcome everyone, and eventually they might become a loyal customer".