I've stayed at Henderson Beach SP in Destin, Gulf SP in Gulf Shores, and I'll be at Pickens NP in two weeks.
Henderson SP is really nice. The sites are secluded from each other for the most part by the scrub oak. It's like having the place to yourself. Bath houses were clean and modern. The SP is a small oasis in the middle of Destin which is loaded with every kind of shopping imaginable for those interested in such.
Gulf SP is really big. The downside is that it's first come first serve on the camp sites. You take what is left. The ones on the pond are nicer from a view standpoint the rest of them are pretty blah. I didn't use the bathhouses so I can't report on them. Quick access to the beach and pier. Orange Beach and Gulf Shores run into each other with only city limit signs showing that you've left one city/state and entered another. If you're up to it, go to the FloraBama. You won't be there at the right time for the mullet toss, perhaps another trip.