31 year resident of Estes Park. Left in 2010 because of the summer crowds and cost of living. Have driven 34 and 36 several times in the last year. They were both rebuilt after the floods.
As for staying in Estes Park. Check out the campgrounds @ http://www.rvparkreviews.com/ I have stayed at both Elk Meadow and Spruce lake in the last several years. Neither are anything to write home about. Like everything else in Estes Park they are overpriced but they do have the location. Staying at Spruce Lake this summer for 10 days. Both have raised rates for the summer. Just have to close my eyes give them the credit card number.
Better think about making your reservations VERY soon. Would imagine that anything around July 4 is already full.