You might if the sand is firm enough to handle the usually higher pressure loadings of RV and tow vehicles. Conditions on the beaches at Daytona and Cocoa are changing all the time, one minute supporting 80-100 psi loadings, other times swallowing up 15-20 psi loadings in the top 2-12 inches, usually firm deeper than that.
If you hit weak sand more than 3-4 inches deep, most drivers will get stuck. I've seen drivers cluesless about beach driving bury themselves in two inches, just as they can get stuck on a 1/4 inche of ice on level ground, by doing the wrong thing and digging themselves a hole.
Anoter risk on the beach is parking, it can be firm when and where you stop, and you might settle in a few inches standind still for a while.
I won't take a vehicle onto the beach unless I'm confident I can push or winch it out myself, no power. My RV is too heavy for that.