Is there a good place to park a camper and truck for a few days - either a parking lot or campground storage?

I'm pretty sure the answer to your question is, "Yes." They have a large parking lot about a mile from the pier. They bus people from that lot to the pier. People leave their cars these so I don't see why you wouldn't be able to leave a camper there. Call them to confirm.

I'm pretty sure that there's a campground that's close to the terminal