Yes, but they are general access fees. Grasshopper Point is a National Forest facility and is8/vehicle/day. Slide Rock is a state park and costs something like10/vehicle/day.
The Sedona area (specifically, the Red Rock District of the Coconino National Forest) also requires a Red Rock Pass ($5) for roadside parking on paved and unpaved roads. There are signs all over indicating where it's required.
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