You cannot park overnight directly at the lake itself. If you look online, it says that you must be at least 1 mile away from the lake to camp overnight. But the road to get to kinnikinick lake is FULL of places to pull off and camp for free. We saw a ton of big RVs camping along that road. Any vehicle can go down this road. But you will see a sign that will say if you are within 1 mile from the lake so it’s easy to know if you are in a good spot to park and sleep over night. There were no reviews when I arrived so I was rolling the dice but this is PERFECT to camp for free in the flagstaff area. So many trees for shade and privacy and a bunch of spots to choose from going down that road.