Welcome!
There are literally thousands of camps (you're a camp--if you call yourself one), and there are probably a few hundred formally "placed" camps with proper addresses (because they apply, and have formally outlined what they will offer the rest of the city).
Joining a camp is not a must, but it can be nice depending on whether you're willing to give up a little time, work and independence in exchange for whatever infrastructure they provide their campers. In some camps the amenities are nothing but a group shade and an address, at others, it's a lot more than that.
If you're a seasoned camper and prize your independence above all else, name yourselves and be your own camp of 5.

You will have plenty of neighbors, and can visit other camps all day long if you want to.
I have camped in many different ways: 1) at highly organized camps w/ fees 2) at no-fee camps that are strictly social 3) with just a rideshare "co-pilot", and 4) alone. (Although again: tons of neighbors, including friends). All of these approaches have their good sides.
You can see camps starting to look for campers in this forum:
viewforum.php?f=468
You can search by keyword through last year's camps and google them to see if they're going to be there this year:
http://burningman.org/culture/history/b ... eme-camps/
If approaching a camp, tell them why you're a good fit for what they do, and lead with your skills . . .