I was only half joking
I have done it. It was a bit of a gong show, surf lift stern, drop bows, bows dig into sand, surf lifts bows, rudders dig into sand, 90 degrees one way, 180 degrees back, straighten her out, rudders hit again annnnnd glide up on beach. It was something like that any way. The surf there is chaotic. I have a short vid for proof, but I never uploaded to Youtube or anything.
Seriously though, you can camp for free on several islands around Marco. There are enough unregulated spoil islands along the Florida gulf coast that you could sail the whole length of it and beach every night and legally camp. Might have to pay for some but even those are cheap.