They may only offer group camping, but you could check out Holly Gray Park. Looks like the Bulltown Campground at Burnsville lake has walk-up available until end of November (not sure exactly what timeframe you had in mind.) Unless they've changed their scheduling, most of the Corps of Engineers sites in the area shut down late autumn to early spring which would limit you to one of the WMAs or a state park (which will be farther out than your 30 minute drive unfortunately.) I don't know if
these folks are still in business, but we have family that camped there years ago. There may be some options
here as well. Good luck!
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