Buckbassking welcome to the site. I crossed Barkley last sunday in a car and you could track a coon across it. I am like elnut and do not camp however I thing there is camping around Turkey bay on the LBL. You could probably trailer your boat to either lake from there. You might check hilman ferry they have some tent camping.
I am sure someone will give you instructions that is more familiar with the camp ground areas however if you do not like muddy water you should look at KY Lake



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