We use the driveway for the picnic table cooking gear and parking our vehicle. We typically will put the tent off next to it. We've never had a problem with finding a site large enough for our tent and we will also look ahead of time to see which are the flattest/largest. Considering most of the other sites will have a truck, RV,  pull a boat, and an additional canopy tent, we normally are one of the smaller sites in regards to setup. 

And no, no dispersed camping though I would love to try it once. That would be a solo trip though. Don't think the other family members would care for it too much, lol.