We are full time, so this is a traveling lifestyle choice more than camping.
Before we bought the rv, we enjoyed cruising, and we still do....we put the motorhome in storage and jump on a cruise ship. We also fly now and then.
As far as beach trips, there are places right on the beach. Some of the rv site are closer than the condos. Sometimes those are state parks while some are private. Examples Gamble Rodgers SRA in FL and Galveston State Park in TX. Not too far from those, there are private beachfront rv parks. Nothing wrong with the rental condos on the beach, but do not assume the condos are closer to the sand than some rv's.