Punsand Bay Campground, Qld
For anyone at the Tip of Australia this place is more than a campground it is an institution that should be on your itinerary.
The campgrounds are well laid out and provide easy group bookings with multiple people on each site permitted.
Campfires are allowed and the bathrooms clean and tidy.
They have a restaurant and bar onsite and make pizza's nightly and I highly recommend the seafood pizza.
You are a bit out of town (around 20/30mins) with one river crossing that is about wheel deep to pass. The road in is dirt but if you've made it this far up the cape that is the least of your concerns.