Well, it is and it isn't on the beach. Actually, there's a dune that blocks the view of the water, but the nice thing is that it is a parking lot on the beach so you can walk up and down the beach. Having grown up in Corpus, I can tell you that you might be greatful for that dune if the wind picks up. It'll sure help when it comes to the blowing sand.
The sand along those beaches is very fine and it has been known to blow ... and drift.
You can actually get a permit to park on the beach, but it isn't something I care to put my trailer through. I love the beach, but I also like leaving the sand behind when I leave.
I think you'll enjoy it.
Since you'll be fairly close to Port Aransas, if you need somewhere to eat, you can try Virginia's. It's different from Snoopys, but I like it a lot.
When you leave, you can always take the ferry when you head north. They're free and it's a very short ride. They are small ferries, but you shouldn't have any problem with a Casita
Take time to enjoy!