Picacho is fun, We usually camp at Taylor lake or drive all the way up to Outpost Camp (usually 4wd required but I do fine in 2wd with the locker).
For a real Offroad trip there is always coming in from Indians Pass. Its definitely more of a 4wd trial but I have done it once in 2wd (again, locker is a must).
Furgeson is an easy spot too that isnt such a long dirt road drive.
For the Spring Havasu is sounding far more fun for me. Awesome carp and striped bass fishing along with everything else. Plus I want to be able to get out and run the new Deaver F67 pack im about to install