Yardi creek is in part of the Exmouth national park area (cant remember its proper name)
I dont think you can camp right at the creek, but there are so called "eco parks" all along that piece of coast.
CALM charge something like $10 or more a night for the right to camp at a spot with an eco toilet and nothing else (no water for example), same sort of conditions as Corros.
mostly flat water spots, but there are a couple of wave locations (you will need to talk to the locals to find out where they are

)
Beautiful piece of coastline.
You can camp at Yardie Creek station, which is something like 40ks away from Yardie Creek