Is there beach access for vehicles right in the park? Or is it nearby?

Nearby at ocean shores

We drove to Ocean Shores to drive our car on the beach.

The beach access for driving on the park is not in the park but nearby. There is pedestrian access to the beach from the park (about a 1km hike from the park to the beach)

Yes, there's day use access to the beach, but you'll need to have a Discover Pass.

Yes