Been there a few years ago, loved it
Camp ground is free but basic. No water except tanks but water quality dubious
Can be busy because its free but worst case is that you are out in the open with no shade.
2 Long drop dunnys. Couple of lemon trees.
Township has a pub/general store/petrol station for basics and fuel as well as a marine/tackle place. There is a Volunteer Marine Rescue next to the boat ramp.
Road in was (is?) 100km narrow rough gravel through unfenced low cattle country. Can be boggy in a couple of places. Telstra NextG phone coverage but only with an external aerial and then it can be patchy.
Tides are big at Stanage 7m (yep seven meters)
and the end of the concrete ramp dries to rocky slippery mud at low tides.
Need to be at the ramp half an hour before the low tide to get a boat in or out, but fine in any other tide. The surrounds around the ramp are rough rock so no beaching boats except on the ramp itself while you hop in and out
Water out the front to the islands is fairly shallow and has 2-3knots of tidal current but if you pick the tide running with the wind its not so bad running in/out to the Islands, but its a fair hike.
Some of the Islands provide good anchorage over night but yatchs often stop there so unless you get there early you get second best. Mossies & sandflies make the island camping a pain (most are national parks) but if you are set up with repellent & midge proof tent/swag its fine.
With 5.1 meters, you are going to have to pick your days to go outside so best to allow plenty of time. You can always fish the sound itself for mudcrabs (though check the season), Barramundi, Salmon, Queenfish, but again check the season.