Stephen Foster SP off US441 is a pretty nice place to go as far as state parks go. However, it is not the place to go in late spring, summer and early fall. BUGS! deer flies, black flies and mosquitos can be horrendous. They have a boat and canoe livery and you can paddle or motor up to Billy's Island and fairly deep up toward Billy's Lake and Minnie's Lake. Only allowed a short distance with motors however.
Laura Walker on the other side of the swamp is really nice, but same situation. No water access to the actual swamp Laura Walker, but a short drive will get you there. LW has a pretty nice lake but does not allow swimming because of the gators. There is a pool and golf course however. Much closer to stores etc than Stephen Foster
Kingsland? If you are talking about Crooked River SP, the sites are pretty big, but the parks needs some serious upgrading. It looks like it is hung in the 50's. We did not care for it. It would be cool to tour the Trident base, but we did not have time. The river is probably 40 feet or so below the park grounds and the banks are crumbling into the water. It is all blocked off so you can't even walk up to look at the water. They have a pool, but I am not sure if it is operating.
Most of the area is pine woods with a park sort of staked out where the timber has been removed years ago.