Thanks to feedback received on The Dyrt Forum, we discovered this campground close to our home. This is one of four CoE campgrounds around Saylorville Lake and likely the most popular, probably due to having direct beach access.
There are two campgrounds at Prairie Flower: North, which has primitive (non-electric) sites, and South, which has more developed sites, all with electric. In the south campground, there are four loops: Aster, Blazingstar, Coneflower, and Dogbane. We stayed in the Coneflower loop, which has a trail leading directly to the beach (a short walk or drive) and there are six sites that have a lake view. The sites are very large, all with concrete pads, with a decent amount of spacing between them. The bathrooms were exceptionally clean; they were cleaned twice daily.
There is something for everyone here and a great campground for families: hiking trails, a sandy beach with a swimming area, and a nice playground, separated into two age-appropriate sections. Note that you must reserve these sites in advance, and it is easier to do so on the app versus the web (some people including me have seen messages saying these sites are not reservable, which is incorrect). The price ($22/$11 with senior pass) is very reasonable.
This was our first camping outing in over four months since the pandemic hit and it was a great re-entry to camping and practically in our backyard!