We've stayed at all except Henderson (drove through it)...here's our synopsis.
St Andrews - Been about 14 years since we were there. Close to the Panama City Beach action. Sites were ok. We were in a pop up on the bay side.
Grayton - Loved the location of it next to Seaside. It has two sections. The older section sites are more secluded, but on dirt and a dirt road. Only electric and water. The newer section is full hook ups (minus cable). They are mostly on gravel. A couple of the handicap sites are on concrete I believe. Easy access to beach (you can drive to it).
Topsail - Probably one of the nicest state parks you will have seen. Full hook ups (to include cable tv). It's the prettiest. Good location. A little ways out from Destin. Far enough to not have the traffic, but close enough to be there in 20 minutes. Would love this park at Grayton's location as we really like the town of Seaside. There's a pathway that you can walk, ride bike or take the tram to the beach. It's about a mile long. Not too bad.But you can't drive to it.
Henderson - right down in the middle of Destin. Sites are gravel and water/electric only. Dump station at park. Easy access to the beach. Probably our least favorite due to the location. We prefer not to be in all the busy section. There is a Walmart across the street though.