Would also recommend campground. Olema Campground is close by.
Not sure about legal -- Please check for close by campgrounds - sir francis drake blvd campground
It is illegal to camp along side the road in all of California. It's California -- we have so many visitors that we'd have huge problems if we let everybody camp randomly. You need to be in a designated camping ground. Will anyone bother you if you do it? Maybe and maybe not -- all depends on the time of the year and where you're parked. Bottom line, find a campsite or a parking lot or something other -- it would suck to here a "tap, tap, tap" on the window in the middle of the night -- and then, you hope it's the Ranger.
Don't know about legal but I'd recommend the campgrounds (any nearby)
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