Cape Henlopen is the Delaware campervan trip. You sleep in the woods at the state's busiest campground and ride a bike path into Rehoboth Beach. If you would rather have the van on the sand, Delaware Seashore puts the Atlantic on one side and Rehoboth and Indian River Bays on the other.
Book the campsite before you book the van. That is where the van sits for most of the week, and Rehoboth, the boardwalk and the brewery stops are day trips off it rather than a circuit you keep driving.
Cape Henlopen State Park
Delaware State Parks calls this its most popular camping location. The campground sits in the trees at the point where the bay meets the ocean, with Fort Miles and the Seaside Nature Center on the same grounds. What makes it work for a van is the trail. You can leave the rig on the pad and ride into Rehoboth's boardwalk, or the other way into Lewes, without getting back on DE-1.
Sites have water and electric. Back-ins are listed at 45 feet and pull-throughs much longer, and the campground roads are tight enough that it's worth taking a pad longer than the van. Reservations open a year out, and July weekends are the ones that go first.
Delaware Seashore State Park
Henlopen is woods. This is the barrier island south of Rehoboth, ocean to the east, bays to the west, the Charles W. Cullen Bridge in the middle. Sites have full hookups, and the published maximum is 52 feet back-in, 54 feet pull-through. North Camp, the 400s, is the easier loop if the van is wide, and each site takes one vehicle.
Sleep here when the beach is the whole trip and you don't want a bike ride between the van and the water.
Trap Pond, if you skip the ocean
Inland, Trap Pond in Laurel is a baldcypress swamp with water and electric and a 57-foot back-in limit, and it is a different week from either beach. Birding at Bombay Hook and the DuPont sites upstate work as day stops from a coastal pad, not as reasons to point the van at Wilmington.
A campervan sleeps two to four. Bigger group and you size up to a Delaware RV rental, which still fits these park loops. The coast runs south from the beaches into Maryland and north across the bay toward New Jersey, and west of them it is Pennsylvania.