Michigan Upper Peninsula camping

I second Munising Tourist park and Pictured Rocks, I would also add Tahquamenon falls to your list.

Dan

Porcupine Mtn west unit campground is of the 'grassy field' variety, but you are only about 100 yards from the woods and the Presque Isle River. You can hike the riverbanks and see several waterfalls. There's also a trail paralleling Lake Superior and you can hike any distance, from short up to a multi-day hike all the way to the east unit.

Add Bay Furnace campground just west of Pictured Rocks NLS and Munising. It's not a state park, only has toilets and drinking water, no fhu, but it was quiet and right on the water. Near to Munising and appears to have fishing and other water sports available to those who desire them.

I know you said state parks. But check out Munising Tourist Park Campground. It is a city run campground with full hookups. Located on Lake Superior with water front sites with. Ice views of the island.

Definitely check out the Keweenaw Peninsula. Copper country is truly something different.

I don't have a bad thing to say about any of MI parks in the UP.

Porcupine mountain sounds like a good fit for many of your activities. If you're ok with boondocking a few nights, check out National Forest camping in Pictured Rocks. Beautiful kayaking there.

My list could go on and on. Will leave some room for others to chime in :)