I've camped at Kiptopeke at one end of the bridge and First Landing at the other. Fun to watch the ship traffic especially the Naval vessels. For a while Virginia got fee happy and expensive but it looks like they toned things down. A unique location .
To the north is Pokemoke State Park with campgrounds on both sides of the river. The northern side has fewer amenities. To the south is Northwest River in Chesapeake. A nice campground. South of that is the Outerbanks. We're getting ready for winter here. I'm envious.