Camano island is a state campground here where the campsites are in a forest. If you drive down a steep road you can can get to the beach (Puget Sound) where there is a boat launch and day parking. We like to drive our truck camper down there to the parking lot and park in the corner of the parking lot looking over the beach and water.
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We will spend the day there (rain or shine), watch the boats go by, hike on the beach, have a nice lunch and dinner, and then head out in the evening back up to our camping site. A truck camper is a great size to fit into the parking lot and when the cars park beside us we are high enough we don't really notice them as you look over their roofs.
Hard to imagine another kind of RV that would work as well.