On the beach no,but there are places where a discovery pass is posted,though it's a hit or miss when the rangers check,put parking is not an issue unless there's a big event,btw when driving in sand,look first where other cars had driven already,tourist tend to get stuck often on sand and tow truck roam around like vultures to overcharge you unless you got unlimited towing,or just wait for someone to help you for free
You do need a pass. They are not real strict about it. You definately need one to stay beyond a few minutes.
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