A few kilometers outside of York is this 24h free camp. It’s directly off the Great Southern Highway, a few metres back into the woods. Unfortunately, it seems to be a little forgotten: The BBQs did not work, the toilets were okayish, the boardwalk is closed. But it’s a nice, quiet area for a night.
No problem by 2WD, just be careful with low hanging branches.
39 Dovey Ct, Gwambygine WA 6302
GPS: lat -31.972303, lng 116.809835