We head down that way some ourselves but usually don't get very far away from Pensacola Beach Area and will run the gulf side of the road between Pensacola Beach and Navarre Beach.
Love camping on the gulf and listening to the water sounds hitting the beach all night long. You never know what is going to be washed up haha...
Only times I have been to Destin was being involved with the Space Surveillance System and Eglin AFB (Niceville area)... The local guys we know from there seem to have fun times all around the area...
Roy Ken