Samuel P. Taylor State Park near Mill Valley features wooded, creekside campsites with several RV-accessible sites and a tranquil setting well-suited to a fifth wheel setup. Pantoll Campground on Mount Tamalpais offers a mountain setting with level sites close to trail access; hookups are limited, so plan accordingly. Steep Ravine Campground provides a scenic coastal redwood backdrop but can have narrow access and site size limits, so confirm vehicle compatibility. For all of these options near Mill Valley, verify site dimensions, pull-through availability, and reservation requirements before booking to ensure a smooth stay.