The roads into the park are very good. Come with your food stocked. Fuel is available in the park but is expensive but if you need it......
Don't worry a bit about 'security'. It's a very safe park. Boquillas little village is now open once again for visitors and is quite an experience - fun. The residents are very friendly and have a good connection with the national park.
We also stay at Rio Grande Village campground with beautiful trees and mountain views. If you want hookups, right next door is a RV park about a dozen spots right in a row. There's a small store, laundry and fuel available right there. Fuel is also available at Panther Junction as you travel in other areas of the park. The park is huge and staying right in the park is a great experience. The hiking trails are awesome. If you're planning to go this summer it will definitely be hot and you'll probably have a big choice of campsites. Have a good trip.