Independence Riverview Park
This is a nice city park that makes a good lunch stop or take-out/put-in. The park has toilets, and a short walk will take you to main street in downtown with amenities such as a coffee shop and restaurants. The new Independence Hotel located on the water next to the river access area is also a terrific destination to enjoy a beverage or meal on their patio that overlooks the river.
Camping is a relatively new offering in the park. When you exit the river via the river access and walk up to a large parking area, head towards the right. Just past the playground is a first-come-first-serve camping area reserved for cyclists and paddlers only. There is a camp host, and 5 campsites that can accomodate several tents, all located in a circular field. Camping is $10 per night per space.