It may not have been legal, but I've "camped" quite a few places on Winni...
Anchored off of Black Is. in Melvin Bay way behind the black spars, and camped on the island twice (in the fall, with permission from Winaukee).
Camped on Store Is. multiple times as a kid. Anchored slightly off the north side of the island.
Got stuck in a thunderstorm at 1AM en route from Toltec Pt. to Wolfeboro, and took shelter next to the church in Melvin. Slept under a cockpit cover in a 19' Mirage (fun times
).
Camped in the boat while anchored just off the Trubee property just outside The Basin's tunnel once. Chef'd up steak tips and corn on the cob off the back of the boat.
Rule is... Be reasonably quiet, pick up after yourself (and leave any space you use
better than you found it, and if you're on land, NO CAMPFIRES! Common sense, really.