Yes pass the camp ground theu have a ramp almost up to the water. In the food shack/shop they can direct you towards it. But it does not go al the way down to the water.
Yes the Rangers should be able to assist you. St. Augustine in general, is pretty good about handicap access.
The cocina sand is pretty much compacted. You might be able to get all the way to the water with wider tires.
Yes , even have some camp sites for the disabled
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