Wow that is what I call an adventure and your photos are amazing! I don't think it would be a good idea to go camping on the beach here. Hippos and crocodiles could be lurking anytime. But still that beach is gorgeous.
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Caravan/camping site is close to the beach, has protection around it, there are also lovely log cabins in Cape Vidal. Groups are taken out at night, you should never do it alone or you may end up _one with nature, _in more ways than intended.