If your looking for family friendly and you are not the sort of person that can handle ruffians, I'd avoid bondocking along the lake edge. Good news is a 2WD won't get you most of those places anyway. A lot of drinking / partying goes on at some of the easier found spots, never seen it myself but found lots of evidence. Not that they are not good places to camp, but if I were you I'd get more accustomed to the area first, scope out some of them before you spend the night. It's not a rough place, but some rough people hang around. Usually they wouldn't bother you, they are just looking for a secluded spot themselves, but I'd be cautious.
I haven't camped at any of the backcountry sites, most of them should be fine. I've visited a lot of them and they always seem half used or nearly abandoned, most of the folks hanging around seem harmless enough.
Energy Lake like drm said is an excellent suggestion. I practically grew up there, the attendants stay on top of things, and it's one of the few fully developed campgrounds that is sprawled out enough that you aren't within spitting distance of your neighbors. Energy Lake is also one of the better kayaking lakes, it's supposed to be wake free, sometimes the odd fishing boat causes issues. I'd stay off the main lake in a kayak unless you enjoy getting beat by waves. Get out really early and some of the bays on the main lakes are nice, but those lakes are very popular with motor boats, you get into the levee blocked bays like Energy and they are quieter.