Rivnuts from Homestead,PA on 3/28/2022 8:25:07 PM:
There are reservable, pay-to-stay camp sites that you can drive to between Paw Paw and Brunswick at Fifteen Mile Creek, Fort Frederick, McCoys Ferry and Antietam Creek. The latter two are roughly mid way between Paw Paw and Brunswick. However, I’m not certain that either match your description. Perhaps, locate them using the satellite view in Google Maps to see if either look familiar.