Well the answer is yes...at least the last time I went there some 10 years ago to day sail. The launch was located to the right of the main welcome station about a quarter mile down the road. You had to stop a the welcome station to get the combo to the lock on the gate or chain. Beach wheels or a 4x4 are a must. Sugar sand. At the launch beach the Skyway will be to your left, Egmont Key to your right and Holmes beach to the south.
As far as the campground goes, There are only a handful of sites that you can launch from. Beach wheels are a must. Look at the map. Area 1. These are tent sites only. There are three sites that you can ,or could get a 8.5' cat through. I'm sorry I can't remember exactly which ones they were other to say there are two together I'm guessing 28 & 30. The other being about 24. They kinda use a food pole or a grill at the end of the site to keep people from driving out onto the grass area behind these sites. Your best bet would be to go down there during the week with a tape and measure the openings to find the right ones. For a narrower boat you might find more that would work.
There are three more that will work 231,232,and 233. These are RV sites but you could still tent camp on them.
The water is shallow so your best bet is to head to the right when looking out from those sites. That takes you to Bunces Pass which leads out to the gulf. They don't like you leaving the boats on the grass so you need to put them on your site when your done for the day. Otherwise you can leave them at the waters edge with no problem during the day. Keep the tides in mind.
This place is VERY popular. You can make reservations 30 days in advance. To ensure we got the sites we wanted we would be at one of the county park offices when they opened 30 days ahead of time.
There are many racoons in the campground. You have to keep the coolers and food locked up in a closed car. Not the tent. During skeeter season you have to wear bug stuff all day.
mapIt has been awhile since I've been down there and things can change.
Hope some of that helps.