Normandy Farms is a very nice campground and if you have kids, there is plenty for them to do. We stayed at Normandy and rented a car from Enterprise which will deliver the car right to Normandy Farms. I would not tangle with any of the Boston city streets in an RV. Boston is a very old city and has many narrow streets and Boston drivers are among the worst, if not the worst, drivers in the US. Think of Toronto drivers with a high dose of anger and you'll get Boston drivers. There is tons to see and do in the Boston area. Among the things we did last summer were Mystic Seaport, CT, Newport, RI for the mansions, Freedom Trail, Plimouth Plantation, the Mayflower, and the USS Constitution. Oh yes, also Provincetown for the whale watching.
Enjoy and safe travels.
2011 Berkshire 390bh