
Bar Al Hickman Beach, borrowed from Jan Schreurs' fantastic website
I get a lot of requests for info on camping, so I thought I'd save me - and you - a load of work and post the link to what is I think the best resource out there on camping: The personal website of Jan & Lilian Schreurs, a Dutch couple who have lived in Oman for ages and done almost everything there is to do off road in the Sultanate of Oman.
Jan & Lilian Schreurs' web site
Check it out. You will NOT be disappointed. All the standard tours are there, with maps, photos, hints, GPS, etc etc etc. And Jan seems to be a geologist, so if you like rocks, there's lots of that stuff too.
Disclaimer: Warning
Be aware, going near the interior's Oil Installations, International Borders, or the Oryx Reserve without permission may result in you being detained/shot at by the ROP and/or Army. Don't be stupid.
And don't go unprepared into the desert. If you do not have enough water and get stuck you may die: read Jan's comprehensive notes on how to make sure you wadi bash safely.