This loop can be lengthened by continuing to climb up to the top of the fire road, past the turn off for Sheep Corral Trail. There is a ST loop called China Flats up there. Then take the same fire road back down and finish up as stated above. I'm overdue for doing this ride.There are plenty of maps if you Google Ventura County Trails, but basically you want to ride North on Palo Comado fire road and take the right hand turn onto Sheep Corral Trail, which is great single track. At Shepard's Flat you turn right to descend into Cheeseboro Canyon. The Southern end of Cheeseboro Canyon has the official parking lot in Agoura, which I used for my start/stop point last week. There are many options on the maps to get from the parking lot to Palo Comado Canyon.
Yes, that's the short loop w/o including China Flats up on top. It will be a good sampling of what the place has to offer. If you like it, you can add China Flats and or Gas Pipe on your next visit.