It is a gorgeous drive, especially between San Ysidro and Cuba. There are some campgrounds in between which I haven't experienced, like Clear Creek east of Cuba. The Chaco Culture National Historic Park is a major attraction off of 550 (highly recommended) and it has a campground (now closed due to pandemic) and is a designated International Dark Sky Park.
https://www.fs.usda.gov/recarea/sant...a/?recid=75530
https://www.nps.gov/chcu/index.htm
There are many camping options in the
Jemez Valley on Rt. 4 north of San Ysidro and plenty of hiking trails, plus Bandelier National Monument, Valles Caldera Preserve,
Jemez Historic Site, and the city of Los Alamos, with the Bradbury Science Museum.