Check out my video report for this hike here (great first person shots of the scrambly sections)!

If you are confident you can make it off the trail in time to not break the trail closure rule (right at sunset), getting this peak right as the sun is setting is my favorite time to go!  The glow on the Western side of Picacho makes for some of my all-time favorite sunsets.

This is a simple to follow trail, but will test your nerves if you don't have experience on scramble climbs.  Any of the exposed sections are protected, though, so there aren't any points where you are in any real danger (even if the perceived danger is there).

Catching the climb around sunset on weekday also tends to offer a private summit experience, which is a little different if you go on a weekend.