No, it is not allowed. As far as I know they don't have a permission to let you sleep in a car. We had to pitch a tent - we borrowed a tent that other travellers left there. The price was around 80$ for a tent site.
RV site is $86+tax so it's about $95 and some change. Not $280 like what mentioned below and tent is $50+ tax so it's about $65...
Agree with Daniel...as much traveling and camping as we have done over the past 25 years, there has not been any place, whether state park or private campground, that lets you "camp" in your car. We had a cruising van, and still required to pitch a tent. Probably something to do with the requirements of license to be a camp or other government law, but there it is.
Not sure if they allow SUV camping. Most RV parks don't allow it. I think it was $280 per night which is fairly pricey but the park is really nice.
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