I've towed my toys tandem behind my 5th wheel all over OK and AR.
Toys include:
A pair of jetskis OR an SXS/ATVs on utility trailer.
When bringing the skis to a CORPS park, I would simply pull in to campground after passing check-in guard shack.... Find a nice level/wide section of road where I wouldn't block any driveway and disconnect the skis from 5th wheel.... Take RV to camp spot... Back in... Level it... Go back and get skis and park at camp spot (leaving hooked up to truck - ready for launch).
Did this for a number of years till we sold the skis....
Continue this practice today with the ATVs/SXS when it's a "4 wheeling" type of camping trip. Sometimes I disconnect. But most times I don't have to as the types of campgrounds that having riding areas are generally larger and have 75' long pull throughs.