As I lived in Detroit for 2 years, i went on a few camping trips and they were very good. Camping sites are all over the state so if you want to just drive around and camp out where ever you are when you want to stop, this is the place to do it. The best part of the state is the upper peninsula, as it is more scenic and natural. There are some really great camping sites along the banks of lake Michigan on the south of the peninsula, but it gets a bit chilly in the north. One of my favorite places I camped was on a Macinac island which is an absurdly small island between the peninsulas. It is no more than 2 miles around the circumference and you can rent bikes to ride around it. The camp site there is brilliant. There is s free guide book you can pick up which is like the AAA and it recommends the certified sites so you can be sure of a nice spot. All the camp sites have clean toilets and good service. Happy camping all round.