Depends on how many hours you want to drive. Las Vegas is only slightly over 5 hours from Phoenix/Gilbert.
Are you planning on taking Hwy 93 out of Henderson or some other route?...If you take 93 to Kingman, just east of Kingman on I-40 is Blake Ranch RV Resort. It's a nice rv park but appears to be in a seedy area due to the truck stops, one open, one deserted. Don't let the area stop you from staying there. It's a pretty nice park. From there south, there's little to see, do or visit. You can stop in Wickieup for touristy stuff but little else.
Lake Pleasant has a nice camping area. Water and electric but no sewer. There is a dump station on site. Reservations are accepted. That's not my favorite way to go as it's somewhat longer than simply staying on Hwy 93 to Wickenburg.
Outside Wickenburg there's a rest area, (difficult to get into and out of) that you could use if you need a few hours rest. Stay on US60 and take the 101 Loop south to I-10 to Gilbert. Lots quicker. If you need fuel, there's a Flying J on I-10 just east of the 101 loop. (Diesel was $3.69 last Saturday) I-10 hooks up with US 60 just south of the airport and US60 will take you to Gilbert, or you could stay on I-10 south to the 202 Loop east if US 60 is crowded. Good luck....remember there's little between Kingman and Wickenburg on Hwy 93.....Dennis