High praise for the Cayo Costa area.
Another possible is Mosquito Lagoon. There are several places to launch, fishing is very good, two or three places you can park the boat in the bay and walk across to the ocean, camp on the ocean side. Not sure what the camping rules are, if any, but its totally undeveloped. You probably won't see another soul on the beach. Just before the Long Point gathering should be a good time. For camping, you need to be there before the mosquitos.
You have one of the best boat camping areas in Florida right next to you, the big bay on Tyndal AFB. I spent several days in there a couple of years ago, wonderful spot.
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