No, you cannot camp anywhere in Saguaro National Park. Camping is only allowed in designated backcountry campgrounds, and you will need a permit to camp there. There are six backcountry campgrounds in the park, all located in the Rincon Mountain District (Saguaro East). No camping is allowed in the Tucson Mountain District (Saguaro West).
To obtain a permit, you can visit the Rincon Mountain Visitor Center or call (520) 733-5153 for more information. Keep in mind that there are no car camping or RV camping facilities within the park. For alternative camping options near Saguaro National Park, you can explore private campgrounds and public lands in the Tucson area, such as Arizona Saguaro Cactus Forrest or Tucson Saguaro Sky.