In reply to luke1986:
The Olive Branch should fit your bill - has a crag at the end of the drive, easy walking to the main climbing areas, and you can camp there but still have the use of kitchen/dining/chillout space.
It's always been very sociable when I've been there (Gary and Mel go out of their way to make sure it stays that way) and if you're car-less you can get the train to Alora, do a shop at the supermarket (there's a tiny shop in El Chorro, does all the basics to keep you alive but not much variety), and arrange for Gary to pick you up there for a small fee.
http://www.olivebranchelchorro.co.uk/