Sorry I'm a little late here, but since you're going by it anyway, Look into the James M. Robb State Park just east of Palisade right off I-70. We've stayed there before and while it's close to the highway, the sites by the river are really nice and you can't hear the road noise. I'd rather stay there than the KOA in Grand Junction since that KOA is next to a busier road in a pretty populated area. Fine for an overnight I guess but not when there's nicer options closer by :)
We also just stayed at Rifle Gap State Park just last week, just north of Rifle. It's a favorite spot of ours and it's pretty much right on the way if your timing allows for it. Full hookups in the Lakeview Campground (and maybe others are too, can't remember since we just stay at Lakeview), sites are spread out and it's very quiet. Only negative (or positive depending on how you look at it) there is pretty much zero phone service unless you're by the check in station. In Lakeview, we've stayed in both sites 12 and 14. Great views from those sites and they are pull through and paved, so easy in/out for an overnighter.