I recommend Winter Island. It's a marina in Salem, MA. Really just parking lot camping with a picnic table but many sites are right on the ocean and the location can't be beat. The trolley comes through to take you to historic Salem and there's a commuter boat about a mile or so away that takes you right into The Boston waterfront. Great seafood all around! We've also stayed at Minuteman campground. That campground is wooded but sites are not really private. It's about a 40 minute drive to Boston. Both campgrounds are very different - just depends on your preference.
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