I have yet to do this trip, but the following link describes one that I am considering. I think doing a trip with friends content to camp at Colorado Bend SP and serve as your shuttle service, with Colorado Bend SP as your take-out point, might work best, though some investigation about good spots to over-night en route is in order.
Colorado River, Texas
I'm still investigating this trip. If anyone has knowledge of good spots for camping along the way, please let us know.
JohnK