Many of the state parks in Wisconsin have the same issue. Some sites are difficult to get into while others are simple. Just to your north is Mirror Lake State Park. It has lots of great sites for trailers while others are more for a tent. Rocky Arbor State Park is almost exclusively for tents or small trailers.
If you are looking for a great place for a meal while in this area of Wisconsin, I would recommend Ishnala Supper Club
. Mirror Lake State park is a short drive from where you are staying. This restaurant is located within Mirror Lake State park and overlooks the lake. Great food and really nice people.