I live 5 miles from Taylorsville Lake State Park and would recommend it for it central location. It is only 15 miles to the the Bluegrass Parkway and about 22 miles to the Gene Snyder Freeway (I265) outside of Louisville. Both of these ways to the park are good roads. KY 55 & 53 from the north and Ky 55 from the south have curves and rolling hills, just take your time and slow down, you will be fine. I drive them all the time in the motor home. All the stops on the Bourbon Trail are with in an hours drive. The Louisville Slugger Museum, Ali Center, Whiskey Row and Churchill Downs are 45 minutes to and hour. Bardstown and Frankfort is 45 minutes away. Lexington, Keenland, and the KY Horse Park are about hour away. About 90 miles to the south is Mammoth Cave and to the northeast is the Ark Encounter. It is a lot nicer camp ground than Boonesboro. It would be a great location to explore Bluegrass section of the state.
Ralph, I have stayed at 8 Ky state parks, 4 in eastern KY and have not seen a ATVs or golf cart problem . I think the use of ATVs is left up to each park manager. Golf carts do require a permit to operate in the camp ground.