There are plenty of RV campgrounds also in Ouray as well as the Ridgeway State Park, which would fit your preference. It is not far out of Ouray.
In Colorado Springs, if you are lucky you might still be able to get a site at Cheyenne Mountain State Park, more likely for week days. It would be worth it even for a couple of days--one of the best.
As for Aspen, just be aware that you can only come in (and go out) from Glenwood Springs, you cannot go over Independence Pass over to Highway 24. We have never stayed with an RV in Aspen, but many times at Buena Vista in the Arkansas Valley. You could stay in Buena Vista and drive over to Aspen for a day with your tow vehicle.
We have gone back and forth from Buena Vista to Estes Park a good many times and for that I always recommend the route known as the "Peak to Peak" highway. I won't go into that detail here except to recommend it rather than the freeway through Denver.
Just some comments that come to mind.