I've never gone camping in urban areas before but just like you said, most likely I wouldn't enjoy them so much. For some reason when I think about camping, there is no way to do it other than in a forest, mountains, or literally away from urban life.
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Most of the Michigan State Parks are right outside of cities. Some of the big, some of them small. They usually do a pretty good job ahead of time to let you know if it is going to be relaxing or bustling. Some people really enjoy those busy campgrounds.