Discovery Bay Marina & RV Park offers pull-through sites and full hookups right near the water, plus convenient access to fuel and marina services for larger rigs. Brannan Island State Recreation Area provides spacious campsites, boat launches, and wide access roads that are well suited to motorhome setups seeking waterfront recreation. Both locations are close enough to Discovery Bay’s services that resupplying, trash disposal, and basic maintenance are straightforward. Campground offices and park maps can help you choose shaded sites or quieter areas for a restful overnight stay.