Google Earth Image of Start of hike into White Roost Canyon. (View at Original Size).  You can see the parking area is quite a ways from Waypoint 01.  There is no parking at the start as there is only soft sand on either side of the one lane road. So we hiked down the road to Waypoint 01 and used the GPS to point us toward 02.

You can see that there is a possible trail between Waypoint 01 and 02.  While it was not obvious when we left the road, we soon found a path that got more evident as we progressed.