I live here. There is overflow parking throughout the park for free. Might have to walk a little depending on what site your friend is in. Just let the guard know you are visiting a friend and give them the space number. They are super friendly and will give you directions if you need them.
There is a parking lot available for visitors (free, I think). I’m not sure how long you can park there, but you have to check in with the office, so you can let them know how long you’ll be there. They’re very helpful and will direct you to the campsite you’re looking for.
I would call the park to make sure I only stayed one time it is a fantastic place but I never did search out overflow
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