Unless you mean leaving it in a parking lot, not docked somewhere. In that case, yes. The beach parking and gravel overflow lots are both available for that.
No you can anchor out in the lake, no harbor or boat slips at the State Park. Path way to beach has a steep incline due to all the erosion around Lake Michigan. I would recommend finding a slip for the weekend in South Haven.
The park does not directly have boat launch or dock facilities. The beach is not easy access this year due to storm damage.
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