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For years Bob thomas and I camped at North Truro Camping Area in Truro. A short walk to the beaches and water. The people were nice and of course camping is affordable. There is also Maurice's at the Eastham/Wellfleet line. Maurices is closer to civilization but a few minutes father from the beaches.
Basically you can find a place to camp all over the Cape. You can camp right on the Cape Cod canal(Bourne Scenic Park or Scusset Beach). Spend a night a two at the canal, try your luck fishing with the rest of us unbalanced nuts, hit the outlets shopping(make the missus happy) then head father out on the Cape.
Your kids are old enough to enjoy the waves at the beaches. If your in the Wellfleet area, bring the family to The Beachcomber. It's a restaurant on the beach, plenty of fine sand and swimming and even the opportunity to make a cast or two.
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