Olivia Haterius Park
Even though there is a maximum five (5) day camping limit here, the park is small enough that you may find yourself wanting to leave after a night or two, just because your motorhome or trailer will end up blocking parking access for pickup trucks with boat trailers.
Otherwise, camping here appears to be have been intended for tents.
Note that Calhoun County has a set of rules for its public parks, and among them is a rule stating that…
All vehicles, travel trailers, boat trailers, flat bed trailers, utility trailers, RVs, motor homes shall be parked in designated areas only and in a matter perpendicular to the shoreline by other park visitors.
In this case, if you plan to camp in your motorhome or trailer at Olivia Haterius Park, the only place you can legally do that without blocking the flow of traffic, is at the east end of the park, where Highway 172 turns right into Haterius Park Ln.