Sorry for your headache. I think I would explain the situation about how a state employee told you to get on the parkway and beg for mercy on the court.
Was this Lake Taghkanic State Park by chance? They did the same thing to me but I refused to get on the parkway even though I only had to cross traffic and drive up a couple hundred feet. Only when I absolutely refused to get on the parkway explaining that I knew RVs weren't allowed, did the lady get frustrated enough with me and hand the phone off to a gentleman who quickly understood and gave me direction to the park which didn't include the parkway.
On hindsight, we spent so much time trying to get to the campground it would have been cheaper fuel wise to stay in a commercial campground or just stayed in a truck stop and paid their shower fee.