I was theresome three weeks ago, and my guess is you can get through the pine forest with ordinary car, but high clearence would help. However Bahia de las Aquilas is a different story, you need a proper 4x4 to get out of the beach, even though it has been fixed somewhat, when I was there year ago it was worse.
As to camping there, the park guard told me it was prohibited, I slept there last year, and nobody objected, but this year the park guard said it was prohibited, even though many people were camping there (it was long weekend), when I asked, they told me they had permission from some ministry. Some lot of bulls.t if you ask me. I plan to go there next month, and this time will camp. I would recomend going through the mountains from Lago enrequillo to Pedernales, through puerto excondido, prytty good scenery, but bad bad road. Not sure if it is safe or not.
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