Here’s an article in the SF Chronicle, detailing how to get permits to camp on the western shore of Tomales Bay, in Point Reyes National Seashore. These beautiful beaches are only accessible by boat. I’ve been there, but haven’t camped. It would be fun to try, but it takes a lot of preparation (permits and packing) and your kayak will need to carry some gear.

Here’s a photo I took in 2021 of Hog Island and Duck Island from Pt Reyes National Seashore.

Standing barefoot on Tomales Bay’s mucky western shoreline, with tidal mud oozing between my toes, I suddenly knew: I had found the Bay Area’s perfect camping experience.

That morning, my family and some friends — four adults and four young kids in all — had driven to a boat ramp on the east side of the bay, loaded up four kayaks with gear and launched onto the water.

Our destination: an isolated beach on the scrubby and undeveloped western side of Tomales Bay in Point Reyes National Seashore, accessible only by boat. It’s a long stretch of steep cliffs and pocket coves where dispersed camping is allowed — if you’re willing to paddle in and search for a suitable spot. Camping there is one of the Bay Area’s unique overnight adventures…

https://www.sfchronicle.com/outdoors/article/point-reyes-kayak-camping-20323232.php