Well, I finally got by those 3 guys patrolling the canyon road, but I did it in a half-assed manner. I just drove my truck straight past them, raised the alarm, waited for the alarm to die down, then proceeded to the camp and drove inside.
I'm someone of a perfectionist when it comes to these sorts of games, so I was attempting 100% stealth for the mission - but I really saw no way around it. =(
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