I would highly recommend
Pedernales Falls SP because it probably comes closest to your likes. It can get crowded, but every time I have been there it wasn't too bad at all. The couple of times I stayed in the car camping spots they seemed very private compared to most state park car camp sites, there are waterfalls, places to launch a canoe or kayak on the Pedernales River, certainly far from freeways, and all the camp site accomodations (i.e. fire rings, picnic tables, etc.). Colorado Bend SP is another park that is fairly uncrowded, lots of waterfalls, a river to fish and canoe, caves to explore and decent walk-in sites.
The trails at Pedernales aren't the most fascinating, but it is a typical hill country hike and there are quite of bit of trailways there. Time wise, it is probably about 3-3.5 hrs from Houston.
There are many great places, such as The Good Water Trail on Lake Georgetown, that provide picnic tables and fire rings in the primitive sites. You could backpack out to these sites or even canoe to them. Sawyer camp is right on the lake pretty far away from easy access (4mile hike is the closet trailhead) that can get out and away from the crowds. There is another site there too that is right on the lake, but I would recommend Sawyer camp, it is the nicest site there. Walk-in sites are pretty cool too, they will get you away from people and don't require 'hiking in' to camp. But you have to carry everything from your vehicle to your site to aviod constant trips back and forth.
Good luck, maybe this will help out a little...
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