Where will you be starting your trip from ,You find not to many Beach stop that are not Caravan Parks , Most free camps in Queensland are not in tourist area spot , When we go to north Queensland we stay at Walkamin half way between Atherton and Mareeba and drive to The tourist spots on day trips to Cairns , Port Douglas and .12 days to North Queensland and back to where is not a lot of time good luck

Travelling from sunshine coast

When we head north we don't mess around getting to Mackay you will find plenty of free camps on the highway but will not find any free camps at the beach , We find Bowen a nice placeto visit lots of caravan park to choose from , Airle beach worth a visit , Free camp at the Comfort stop at Home Hill , Townsville has a few free camps north of the city around Bluewater , What I have found people camp at Bluewater and drive into the Strand in Townsville and sit there and enjoy the view all day and move back out for the night. Inghan has a free camp at the tourist information centre and you could do the same thing go out to Lucinda and forest beach for the day and go back to the free camp . And you could repeat this i other area but I do not know of any free camp at a beach in Queensland , Having a campervan will allow to spend time during the day in built up area and move out to camp some where over night .