There are a number of pull offs along the road which are designated as dispersed camping roads on the Forest Service MVUM.
there are no designated sites and people seem to park where they feel comfortable along the edges of the road. There are a few homemade fire pits, but beware of local restrictions.
If you're just getting to Steamboat these can be a good fall-back or first night or two while you figure out your plans.
I camped here after trying the other FreeRoam spots just northeast of town and found the road extremely annoyingly bumpy (even for my 4x4 van) and most of the sites filled and just needed a place to park for the night.
While the main pullouts are usually filled by early evening, some of the more open pullouts further along the road usually have space and are often shared by truckers.
The road is noisy until about 11pm.
*I would NOT recommend bringing a trailer into the pullout loop roads and would suggest using the bigger roadside pullouts.