We spend the summers in Grand Marais, so I know what area you mean when you talk about the North Shore. There are several nice state parks along Hwy 61, but we've never camped in one so I don't know what their accommodations for a rig your size would be. Those parks have beautiful scenery and are well worth a visit for hiking and sight-seeing even if you don't camp. For RV camping, there really isn't too much in the way of choices. The municipal campground in Two Harbors (called Burlington Bay) is right on the lake and is nice. Likewise, the municipal campground in Grand Marais is right on the lake and within walking distance to town (it's basically in town). The RV park at the Casino in Grand Portage is more of an open field, but it is close to the Grand Portage National Monument; well worth a visit.
These parks can be VERY busy at peak times of the summer, and remember this is RVing, not really camping. If you want to CAMP, there are lots of small Forest Service campsites back in the woods, or even the Boundary Waters, but your 5er won't fit in most of those.
Things to do?
Hike, bike ride, fish (both little lakes and Superior), kayak, canoe, photography, tour Split Rock and Grand Portage, take a boat to Isle Royale, drink coffee at the Java Moose, eat donuts at the Worlds Best Donuts, or pizza at Sven and Ole's.
Remember though, this is the North Shore. On a really hot day it might get to 85 degrees, and that's pretty rare. Bring warm clothes.
Sorry I kinda got rambling on here
๐
John and Susan
2018 Winnebago Vista 26HE
Jeep Wrangler Toad