Pantoll Campground provides wooded, vehicle-accessible sites with level parking areas and nearby trail access, making it favorable for towable setups arriving from Mill Valley. Bootjack Campground offers a quieter, forested setting with drive-in sites suitable for unhitching and loading gear for off-road or mountain-bike excursions. Kirby Cove Campground delivers one of the most scenic shoreline spots with a compact loop of vehicle sites overlooking the water; facilities are minimal but the setting is ideal for leaving a toy hauler overnight and exploring by day. Each option near Mill Valley includes basic amenities like restrooms and picnic areas, and all support the flexibility of unhitching to enjoy local outdoor activities.