Cape Liptrap - Bear Gully Camping Area has a long drop toilet, lots of wildlife around, and you can sleep to the sound of waves crashing on the beach. Mostly rock beaches so not ideal for swimming, but there are some nice rock pools to explore.
There are 35 sites available, and most have shared fireplaces.
Smaller Caravans should be OK with access, but larger rigs... think twice before committing yourself.