Wow, this looks familiar! We were out for 4 nights / 5 days in the same area around New Years. I'll be working on a TR soon. We started in Gila River canyon near Dateland, then hit the AZ Peace Trail north from Yuma, heading over to Swansea, over the Bill Williams, then to McGuffie cabin and finally the Maggie slot canyon.
Great trip. Great scenery. Great adventures. I've read articles that camping/overlanding is booming during Covid era, but we saw fewer people than previous years (we caught the bug some 8 yrs ago), and that's a good thing!
My wife and I took the trip, so we had a few more creature comforts than you guys (fridge, insulated sleeping mat, Little Buddy heater, etc.), but I'm OK with that if it helps get my wife out there with me. And I have to admit, I don't mind a little extra warmth on cold mornings and dry, cold meats etc.