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Camping at Dane County Parks

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Has anybody camped at any of the Dane County Parks. We want to camp just one night (next Friday - Aug 19) near Madison. It is a first camping experience for my 5 year old. The next day we'll go to Farmer's Market, Zoo, Union for icecream and then go home to nw suburbs of Chicago. Was looking at either Lake Farm Park or Mendota. Does anyone know what the camping is like at either of these. Are the campsites wooded, grassy, near roads (noisy/quiet), good for small kids? Any info appreciated. Thank you!

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