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We have spent a lot of RV time in the Boston area as kids went to college there and stayed. We've spent many nights in Home Depot, Costco, and Lowes parking lots. But our two favorite real campgrounds are north of the city. One in Salem, Winter Island Park. We prefer the parking lot spaces because of the view, but the grassy areas are nice also. It fills up fast in the fall. The other is in Gloucester, Cape Ann Campsite. Smaller rigs can get back into the woods but there is plenty of big rig parking up front. This one has a great beach park right down the street. Both towns are fun to visit and you can take a train into Boston or drive your car. I do not recommend driving your RV into the city, the tunnels, traffic, and narrow streets make it very difficult.
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