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Man, the kids are so young.
From my experience there isn't much offroading, mostly because of private property and the State park. A great place to camp is the Limekiln State Park campground. We've stayed there many times and each spot has something new to offer. There are many trails to hike but none to drive on.
https://lh3.googleusercontent.com/-L...0/DSC_0136.JPG
https://lh3.googleusercontent.com/-c...0/DSC_0186.JPG
And with most State parks there are many rules.
https://lh3.googleusercontent.com/-o...0/DSC_0050.JPG
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Awesome thanks for the info! Thinking about taking the lady there for labor day. Looks like some beautiful spots. She's not a camper so the amenities will be useful.