This is the shortest and easiest way to climb Whale Peak. If can you make it to the trail head, "Park 1" or "Park 2" by car that is.
"Park 1" the most obvious and best marked trail.
"Park 2" a slightly shorter route but less marked if at all and slightly more difficult.
"Park 3" most cars will be able to get up to this point.
Head East at the sign Pinyon mountain valley. Follow this dirt road in a high clearance 4x4 to one of the trail heads, or as far as you can make it.
A good variation is Park at the turn-off to "Park 1" and hike up to "Park 1", on the way back hike to "Park 2" and head back along the road.