IIRC, PA state parks do not permit any type of livestock.
Another consideration is documenting your pet. Those who travel with pets can surely tell you more, but in general, make sure you have documentation with your license, vaccinations, rabies, etc. WITH YOU at all times.
Transporting livestock across state lines can have their own restrictions, too.
A great place to start out for what you describe would be a country or state fair. Here in PA our county fairgrounds often allow you to camp for a small fee during the fair and other special events.
You'd meet with a number of people doing what you describe and would likely be happy to share ideas and info with you!