Samuel P. Taylor State Park sits within easy driving distance of Mill Valley and features wooded campsites with potable water, restrooms, and sites that can accommodate smaller trailers. Pantoll Campground on Mount Tamalpais provides forested, drive-in sites and quick trail access—scenic settings ideal for unhitching and day hikes, though full hookups are not available. Kirby Cove Campground offers dramatic coastal views and primitive sites close to the shore; access roads are narrow and there are no hookups, so it’s best for compact towable rigs. Before booking from Mill Valley, confirm length limits, reservation requirements, and whether pull-through sites or hookups are available to match your trailer.