The OHV park in Gilbert is some off road fun. You cannot camp inside the trails but you can drive from the CG to the park. ( think Jeep country) I think there is a lake there as well but I am not sure.
I liked Frontenac State Park. Park the camper back in the tent areas where it is quiet. Walk the trails down to the river.
I guess I a manly a State Park camper as there are many more activities than the county and private CGs.
Ben
Oh, go down to Mystery Cave State Park and get lost on the winding back roads of Fillmore county. Fun times when I was a kid.