Yorke Peninsula - 4WD

good place to stay is Gleeson landing if you don't require a caravan park other wise marion bay is not bad. Bush camping spots can be found all around that area as there is some Crown land north of the typical camping spot at Gleensons landing which people stay at quiet often. Talk to the locals in Marion bay or Corny point they know the areas pretty well.
As for 4wding great 4wd around Daly heads, which is next door or South of Gleesons landing. Cool Sand hills etc. Not sure how the camper would go down their though.

See how you go with those places they are in between Corny Point and Marion bay.

Kev

balgowan just below port victoria is a nice little spot you can catch fish from the beach or dive for abalone only about ten off shore

Give the links below a try when the map comes up just double click on an area to enlarge then click on icon for more info on site

http://www.campersalmanac.com/
http://www.4x4earth.com.au/campsites.html

Hope the links work

Being a resident of Kadina (at the upper end of the Yorke Peninsula), and formerly the President of the (now defunct) YP 4WD Club, I feel I should point out that there are precious little "4 wheel driving" opportunities on the YP.

There are various beaches you can drive on (mainly on the western coast line) and there are certainly plenty of good camping spots. Most of the camping spots are on council land and you may get a visit from the roaming council "inspector" who will require a small fee per vehicle (about $6- per vehicle).

If you choose to tackle the beaches, PLEASE travel with another vehicle. I hate beaches with a passion.....they have a nasty habit of wanting to swallow your tyres!!!! hahaha