Fellow Kentuckian, welcome:
The nicest park I have seen in the Destin area is Topsail Reserve State Park on route 30A about 12 miles East of Destin. It is a wooded area with easy access to a private beach. Unfortunately, there are only a few pull thru sites so they might tough to get. But, I would highly recommend Topsail.
Now, don't get intimidated with a 37' coach. I back my 35' all the time and never drove anything bigger than a minivan until I bought this thing at age 68, now 70.
I know this sounds strange but I actually learned a lot by reviewing online driving instructions. Look at the below link.
RV Driver Confidence Course: Part 7 - Better RVing
These things are not all that hard to drive. Keep your eyes on the mirrors to learn where in the lane you meed to be to be and soon, you will "feel" where you should be.
Limit your distance each day at first and stop at rest areas frequently. Drive SLOW, you don't need to pass anything. I limit my speed to a max of 65 on interstates and 55 everywhere else. You are out there to enjoy yourself so don't be in a hurry.
Life is a journey, not a destination.
2005 Georgetown 359ts
Bill & Virginia, Kentucky
Nights camped in 2011...78 , 2012...73,
Nights camped in 2013...123, 2014 ...101