We have visited Morro Bay a few times but this has been our first stay here in the motorhome. We stayed at a very nice small RV park which is ideally located with a two block walk to the center of town and a two block walk in the other direction to reach the waterfront.
The most easily accessible location on the California coast where you can view the Elephant Seals is near San Simeon, CA, about 5 miles north of the entrance to the Hearst Castle. Right on Highway 1 you can pull into the parking lot and observe them laying on the beach and maybe sparring in the surf. The rookery you see here ranges over 6 miles of California coastline in the area of Piedras Blancas. This was a 30 mile drive north from our base in Morro Bay, CA.