I spend a lot of time kayaking that area. Saying Pete's Pier is run down is better than my adjative of 'crappy' with derilict sailboats anchored in Kings Bay. Pete's Pier does have big boats. Read the tide charts
as 1' or 2' of extra water coming and going will make it safer as I believe many of the derilict sailboats are sitting on the bottom.
Staying in a campground near water will bring hungry no-see-ums out an hour or two before dusk. I like to kayak
in the middle of the day. This time of year you will not see many gators or snakes.
Things to do:
to 3 Sisters Spring not far from Pete's Pier. It is Manatee season.
2. See the Homosassa Wildlife State Park.
3. I think you can take your boat up the Withlachoochee River to the RainBow River. To me the Rainbow River is the best kayaking I have done. Maybe leave the boat at Pete's Pier and drive to Rainbow River State Park rent kayaks and paddle down to KP Hole and back. The top of the Rainbow River is better than the bottom of this 6 mile river. You can swim in cool clear 6.5' deep spring feed swim area.
4. 30 miles from Crystal River is Weeki Wachi Mermaid Show and a good smaller faster kayak trip down the Weeki Wachi River. 2nd best kayak trip in the area.
For the RV see if Rock Crusher Canyon RV Park has a spot. It is the best RV Park in the area.
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