We did Yellowstone a few years ago with 2 7 year old boys. A couple things we found out. First, if you can camp in the park, you will be much happier. The morning rush to get in the park at the entrance would be a pain every day. Everything is far apart. So, lots of windshield time. With 2 7 year olds, I found that for them, one steaming pool of mud or water looked like the other, so they got board quick. What I should have done was got each of them their own camera and had them do a photo contest or something. Some reason to go from one spot to the next and to get out of the car when we stopped. The animals were great, but the other stuff was not high on their list. My son's friend just wanted to go back to camp and ride his bike. It is good that you have a toad as packing up the RV every day would not have been fun for our group, but I saw people doing it. Parking can be an issue at every stop.
Good Luck and have fun.