Prescott - look at Orchard Ranch RV in nearby Dewey. However, Prescott in winter will be very cold with possible snow.
Phoenix area - consider moving around your first time. There are just so many parks that you need to check out. If you want to stay up to two weeks at a time and then move, definitely consider Lost Dutchman State Park in Apache Junction. Some sites have full hookups. It's the very best place to stay in the Phoenix area. (We volunteered there) Other very nice parks are the Maricopa County parks. Big sites, hiking and nice desert natural landscaping. Our favorites are Usery and McDowell Mountain. Most RV parks in the greater Phoenix area will have cramped sites and many permanent Park Model trailers. We like the public parks much better.
Tucson - Catalina State Park but only for 2-weeks time; Voyager RV has any kind of activity you may want
Benson - 40 mi east of Tucson is also nice if you like a small-town western feel. There is lots to do in the surrounding area. It's cooler than Tucson in winter but the days are sunny.
Amado - south of Tucson would have hiking in the Santa Rita mountains. DeAnza RV is the best place to stay.
Tucson and the Apache Junction area have the very best hiking with beautiful surroundings.
