How to Spend a Great Weekend Camping at Samuel P Taylor in Marin. Samuel P Taylor State Park is over 2,800 acres in size, and consists of steep hills, open fields, and multiple stands of various pines and redwoods, with the campground located on that north side of the park on a small patch of redwoods grove that is split in half by a small stream. Samuel P Taylor state park campground is a close jump from the Bay Area, on Sir Francis Drake Blvd through the San Geronimo valley. The best campsites at Samuel P. Taylor are right by the creek (campsites 1-18 I believe) and the very best are on the creek by the bike path that runs through the camp (campsites 17-18 I believe). Samuel P. Taylor State Park in Lagunitas is rated 7.7 of 10 at Campground Reviews. It’s about 20 miles away and has 61 campsites in a … Samuel P Taylor CA State Park - Duration: ... Samuel P. Taylor SP Campground - Duration: 4:59. ROADTREKKER SS 3,984 views. “If Muir Woods were the bunny slope, Samuel P. Taylor is somewhere between a beginner and an intermediate slope.” See all Samuel P Taylor State Park reviews Bodega Dunes Campgrounds Samuel P. Taylor State Park Camping. It’s about 20 miles away and has 61 campsites in a dense old-growth redwood forest. 4:59. Immersive redwood trees surround this car camping spot and a day trip to Point Reyes is within easy reach. Samuel P. Taylor State Park. The main campground has over 50 campsites with Samuel P. Taylor Park is located 15 miles west of San Rafael on Sir Francis Drake Boulevard. The Day Use Annual Pass is accepted at this park. Samuel P. Taylor State Park in Lagunitas, California: 12 reviews, 2 photos, & 2 tips from fellow RVers. 1 of 22 Samuel P. Taylor State Park in Lagunitas did not make the top 20 spots for camping in the greater Bay Area, but it did land on the top 50. As mentioned in a previous post, Brad and I go camping about six times a year.We like to do a combination of car camping and back packing trips and we try to book places that are within a two hour drive. Campgrounds. Located 30 minutes west of San Rafael, Samuel P. Taylor’s campground is a favorite of my family. Samuel P Taylor State Park campground is a scenic campground located near the northern Marin County coastline. The park has wooded countryside in the steep rolling hills with groves of redwoods and open grasslands. The trip through the tight streets of San Rafael wasn't the most fun in a 26' class A so if you are going to visit in an RV, try to plan your drive through town when there won't be traffic (not sure when that is, seems really busy all the time). Nestled in 2,882 acres of wooded countryside in west Marin County, the park invites visitors to camp, bike, ride horses and savor a piece of paradise. A brief introduction to Samuel P. 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