Been there, done that. We stayed at Bryn Mawr which is ocean front and, although a bit parking lotish, it had good access to the ocean. My favorite was northbeachcamp.com it's quite unexpected. It sits between the ocean and intracoastal waterway although you have to cross the road to go Atlantic side. When you check in, you drive down into a hammock of oaks that you park under; very other worldly; I didn't care for the KOA there; the state park was nice but you'd need to be careful , lots of trees, not sure our 5er could have made it.
Good luck and have a blast; one of my favorite getaways
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