We were a family of four on a similar sized boat for a while and I used to sleep on some of the floats at the state parks with the kids under a little tarp and some cushions out of the boat. Lots of nearby state parks with onshore camping up here. Having a campfire on shore was always a whole family activity too and a lot of our cruising around still center around a campfire in the evenings. Sounds like you'll have a lot of fun.
1983 Fraser 41
La Conner, WA
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Boating for over 25 years, some of them successfully.