You could try du lac kir just on the edge of Dijon, lovely town, loads of nice bars and places to eat, also canal to cycle along if you are into that sort of thing.
The municipal at Cluny in Burgundy is a 5 minute stroll into town and you have free use of the municipal pool next door. Paquier Fane at Chagny is another that we like, you can walk into town and the added bonus of Chalons sur Saone being 10 minutes away by train, and Beaune 10 minutes away in the other direction. One more, that we have used several times is Camping de l`Etang de Fouche at Arnay-le-duc. The town is about a 15 minute walk away, but it is a really good site - - huge pitches, bar, swimming pool, good showers, and is also on a lake with artificial beach and slides.
La Grappe d'or in Mersault, in a vineyard with a pool and restaurant.
PARC DES CIGOGNES at Cernay, easy walk into town with municipal pool just outside.
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Beauty is in the eye of the beerholder