The Arno Bay Park Rest Area is a nice place for a stroll along the beach or have a bite to eat at one of the picnic tables, then use the public toilets and rubbish bins.
Turn off Lincoln Highway onto an unnamed dirt road to get to the Red Banks Rest Area, and follow for about 1 kilometre to camping area. There are spots for approx 6 caravans.
Checkout the website link to find out more about the Wharminda Soaks Picnic Area, there is a public toilet, and a bit of room to park your caravan, and enjoy a nice picnic. P.S. Your camera will be need with full a battery.