Hey Jonno,
We ( Being my family and I) just of last week got back from the Innes National Park on York Peninsula, Camped at Sten House Bay Campground, Lots of space and Large sights. Awesome Jetty Fishing. Great short walks.
Depending on how big your set up is a place called Shell Beach Camp ground is definately worth the look also.. We did it in a Jayco OB hawk and had plenty of room. Short walk to the most spectacular Beach.. (No weed last week).
Enjoy your weekend, Wherever you go Hope the weather is kind to you.
Cheers Woody