Last pic is kukenian tepui on the left and Roriama on the right which is the border of venezuela-guyana and brazil
from the pic it looks like you were pretty close to the start point for the hike- its a 4-5 day round trip from the nearest village to the top and back
Gran sabana is one of my favorite places on the planet, remote empty beautiful and in the most part unspoilt only the odd polar can on the trails.
there are two types of rivers....clear- with mosquitos....and brown tannic acid with none, try and camp by the brown ones.....
Pemon indians are the indigenous peoples, who live on all sides of the borders, some even speak english if they spent time on the Guyana side.
The huts you see are spaced out across the whole area, churatas, often you camp by them go to sleep and wake up with a Pemon family hanging inside where they arrived after dark and on their way to visit family in other areas, a sort of network of overnight stops to shelter from the common rain storms.
Nothing wrong with the tourist trips....just the driving speeds !, they hit most of the main points close to Sta Elena de Uairen.
But I think the best campsites are the ones it takes a day to get to from the main road, on trails and across the multiple rivers.
Hopefully soon the situation in Venezuela changes and tourists can return in safety to a country full of wonders and great people !