We have done it many of times with our motorhome pulling our trailer. we also had a jeep in the trailer so we could sort of help ourselves if needed, I would check the tide charts, go in at low tide not to far down the beach just past the area where you can camp, back in as far as possible, I mean as far
Then build a sand dam in front of our rig as best as possible when the tide comes up hope you are back far enough Thats half the fun
, then break out the jeep and cruz
Great place to hang out never gets to hot. but with the overcast put on sunscreen.
If you do get stuck there are guys there in trucks just waiting for you $$$$$$$
I can assure you $20 won't do it, although there are some guys there that is what they do is take you out and pick you for a fee.
We would take pieces of 1/2" plywood cut in 2'x 8' strips and put them under our tires and that helps to get our if you need it, back in the day we were set up for sand would go to Pismo and Glamis quite often, always had that plywood in the trailer just in case.
Check the tide chart and go for it.