I'd have to agree with Glenn. I live just west of the Catskills and unless you're into whitewater paddling on the Esopus, there really isn't much in the area. If you're willing to paddle on the periphery, then you should check out the Delaware River and either the West Branch or East Branch of same. At this point both branches may be down on water but you should still be able to paddle the main stem. Depending on what you're looking to do, you could put in at Hancock, NY and paddle down to Callicoon, NY or even down to Skinners Falls or Narrowsburg, NY.
In the "good old days" the railroad would allow folks to camp anywhere between the tracks and the river but I don't know if that's still allowed. You might want to look into the numerous campgrounds along the way but, depending on their operating schedule, they may have already closed for the year. Regardless, the entire upper reaches of the river come under the National Parks Service so I'd encourage you to speak with them on the specifics of camping if you wish to do so along the riverbanks.
That's all for now. Take care and until next time....be well.
snapper