Nickerson State Park near Brewster. All paved roads. Campsites are not paved but flat. You are not packed in like sardines. Easy access to all of Cape Cod. 25 miles to Provincetown. Non resident $17.00 per day. They have hundreds of sites.
We are predominantly dry campers. They have dump station and fresh water can be had near your campsite.
Nearby is Shady Knoll. More traditional for Class A at about $45.00 per day. All the usual hookups are offered. It's in Brewster as well so if you don't like either pick up and try the other.