We have a Jeep. Is driving on the beach allowed?

No there is no vehicle access to the beach. Only parking that leads to boardwalks; taking you to the shore.

No, but there is parking if you get there early.

No driving on beach at Canaveral National Seashore. You can drive on New Smyrna and Daytona Beach

Depends on what beach

Sorry no vehicle access to the beach ...But it is an awesome natural Seashore to check out..and take in a space launch..