The different LTVAs have slightly different rules. La Posa in Quartzsite has toilets, so vans with buckets and tent campers just need camp within 500' of a toilet. There were several tents in there when I was there. And I believe Imperial and Mule Mtn also have toilets. Midland does not.
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https://www.blm.gov/visit/midland-ltva
"17. Self-Contained Vehicles
a. In Pilot Knob, Midland, Tamarisk, and Hot Springs LTVAs, you may camp only in self-contained
camping units. The La Posa, Imperial Dam, and Mule Mountain LTVAs are restricted to self-contained
camping units, except within 500 feet of a vault or rest room".
As mentioned on the other thread, the ground thereabouts is very hard, so you need good metal tent pegs and a hammer. And a tarp under the tent to protect its bottom from the rocks. You can certainly tent camp at RTR, but there might be lines outside the little johnny-on-the-spot toilets provided. Ya never know. And if you just camp in the general BLM zones, you're own your own.