Get permits and reservations now--if you can still find any available.
Kalaloch is one of the, unarguably, best established campgrounds in the state that will easily fit your RV, many hammocking spots overlooking the ocean, a big beach that's safe-ish for kids (beware sneaker waves) and one of the very FEW NPS sites to allow dogs. But it fills
extremely quickly.
You'll probably run into more problems having the dogs than children, as much of the land is NPS. But there's a USFS campground near Lake Quinault that's nice and dog friendly. Then just a short drive for a beach-day at Kalaloch from there. Maybe try
South Beach too.
Port Angeles is meh. The best thing is has going for it is a ferry to BC.
And Forks is a dump, as is much of the OP, which is economically depressed. So buy local if ya can
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