I-90 runs by Erie, PA and near Presque Isle State Park (on a peninsula).
I have not camped up there but been there a few times. There is a campground at the entrance called Sara's Campground.
https://sarascampground.com/
There is also another campground in the same area on lake Erie a few miles from the park entrance called Lampe Campground.
http://www.porterie.org/camping/