I'll vote for Grizzly RV also. We stayed there twice and will again should we go to Yellowstone again. Less than 2 minutes from the park entrance. Lots of good restaurants in town all walking distance. We've never felt that driving an hour to see certain parts of the park were all that big of a deal. It is such a thrill driving through there that an hour passes pretty quickly.
IMO, there is no ideal place to stay in or around Yellowstone. Everything CG in the area is a compromise of one kind or another. You have to do your research and decide what you want you want most and what you are willing to compromise on.