Less than two hours away from the Canada-US border in Niagara Falls, there is some lovely free camping to be had within the North Harmony State Forest. Jasper Park is a designated camping area with fire rings, covered picnic shelters and a HUGE portapotty. Lots of Amish folk around so be prepared for some horse and buggy traffic but overall, tranquility. Access to the Fred J. Cusimano Westside Overland trail is within the park and brings in some day use hikers as well. Although there’s probably enough space to accommodate a bigger rig, I wouldn’t stay in anything bigger than a C class just because the covered picnic tables limit the level spots you can park in. Perfect for tents or vans.
Max stay is 3 nights. Longer stays require a permit.