Pack up camp by 10 am and drive to Fredericksburg via the Willow City Loop (beautiful scenery with lots of wildflowers) and Enchanted Rock (allow 1-1.5 hrs here to hike, explore, and climb the rock if you want). If you don't feel comfortable driving on the dirt Eckert & Lower Crabapple Roads, then loop back north on SH 16 and turn left on RM 965; it won't take any longer.
Arrive in Fredericksburg with enough time to enjoy shopping, eating, and drinking; there are many great boutiques, shops, restaurants, and bars in town. The town is touristy but charming and has a distinctive German flavor; it is the "capital" of the Hill Country. Choose one of the many B&Bs in town to stay in.