That's a long drive for one day (10 hours). We usually drive 5 hours and stop. In Kansas City there's Worlds of Fun that has RV sites. I would call and make a reservation as soon as you know when you're leaving. Weekends (Fri & Sat nights) might be a problem as well as holidays. Also high tourist areas like Estes Park will fill up during the summer. There is a KOA in Salina KS that would work for an overnight stay. I would not arrive after dark. For Estes Park, you could stay in Loveland and drive over. That's what we do if the high tourist area is booked.