JAKE -
We 'camped' at state parks in the San Juans with the g'kids aboard our CD. They loved it. They slept on the boat, if weather seemed iffy, on the dock if they wanted to look at stars, and ashore in the camps when they were a little older. They hiked all over the islands on great trails, fixed dinner for themselves at night over a campfire ashore (when the weather was right, had fun with hide-and seek, fishing from dock or shore, etc.
When you can all get away for a weekend or more, nothing better, we thought with kids or grandkids.
One g'kid, who just graduated from college, still loves to talk about her times camping off the C-Dory in State Parks in the San Juan Islands with her family (and she lived in Arizona then).
Enjoy those great islands right out your door!