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Yes camping and trekking are allowed. Thrillophia offers trekking packages you could check with them online. Will share a tripoto link written by a traveller pertaining to their travel to dudhsagar see if it is suitable for your travel. https://www.tripoto.com/india/trips/trek-to-dudhsagar-falls-19th-20th-april-2014-2109 https://www.tripoto.com/india/trips/dudhsagar-trek-in-monsoon-5efebbab506cc
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