As you are driving back toward Fort Worth from Glen Rose, pass over the river bridge and look off to your right (south), unless the river is really full, there is a large gravel bank down there where one will see plenty of bank fishermen/recreational users. And, you'll often see some floaters from the canoe rental place upstream.
But, that access under 67 would make me nervous as it isn't clear what public parking might be available down there (I think I see at least one sign indicating one area is private property), what other issues you might run into (theft).
I did look on Google Earth and the river twists and turns right below there. It could be there are some possible areas to launch from down a little farther if you could determine what farm roads to follow, then a place to drop in safely.
This is the issue so often, isn't it? Finding safe and intended places to launch on rivers is often a mess. It reminds me of Jeep commercials over the years where the vehicle flashes by down highways then back roads showing off its assets and off-road muscle, then pulls up with a dude standing next to his Jeep looking over the edge of a mountain cliff into miles and miles of clean air and open views.
Except, in real life, these pristine and isolated areas are often off limits; in others, there is some sketchy crowd hanging around where you wonder if your car or trailer will be there when you return.
Too bad Texas can't promote more drop in areas to access rivers.