Originally Posted by
neilfein
The Bulls Island campground is very good, I've been there a couple of times, including
a 2-day tour from my house to there and back. Call ahead, but I'd be surprised if you needed a reservation in October. It's off the Delaware and Raritan rail-trail.

Weekends in October often see large groups of boyscouts. I have camped there a couple of times on Saturdays before the CBBC Covered Bridges Ride and it has been full. A ranger told me that on weekdays there are always sites available.
Heading across the pedestrian bridge for a drink at the Black Bass: