Any parks in South Miami allow camping trial setups?

My friend and I are going camping soon and the advice we got is to practice setting up our tents/canopy etc beforehand, so we know what works and what doesn’t before we catch ourselves in a predicament out there in the field.

Not sure about the local laws/rules surrounding that though. Would we be allowed to set up camp at any park if it’s just for a couple hours to make sure everything works? Or do we need to go to specialised spots?