I have been here numerous times but have never camped but several folks I know have and they thought the experience was pleasant. Rule 1 Stop at the Trenton Lobster Pound on the way in- my brother declined this to the astonishment of my father. He demanded a hamburger and the next day got sick.
There are no other rules for this park. I have climbed the Beehive, Mount Champlain and Acadia mtn. I have driven up Cadillac numerous times. You really should do some climbing and bouldering at Otter Cliffs& Wonder Wall-very enjoyable granite. The precipice is visible on Mt. Champlain as you drive south from town down the shore. The precipice is vaguely via ferrata with its rungs. Be sure to view Chitlin Corner on your right as you approach the Precipice. Bar Harbor itself is a tourist town its cousins being Lake Placid, Estes Park, Gatlinburg and Jackson Hole. Still the harbor and the sea side temper the atmosphere. I think Acadia Mtn. Guides are there and they could help you locate what you would like to do.
There is a great sunset on top of Cadillac Mountain which is accessible because you can drive there after dinner.