Check out Ft. Worden State Park in Port Townsend. You may already be too late to get reservations in the lower campground, but it would be worth a try. If not, the upper campground is fine. Lots of bike trails in the vicinity. A must see is Hurricane Ridge on a clear day. Dungeness Spit is also a nice place for a walk. There's way too much great hiking in the area to recommend one.
Further out on the Peninsula is Salt Creek campground right on Puget Sound. The lowest row is for RVs and is first come first serve. The mid and upper tiers can be reserved with the upper tier being the most desirable. No sewer hookups, but they have a dump station.
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