Not sure what you are looking for in the way of campgrounds but there is the Park itself and several just ok rv parks in Estes - I have always thought Elk Meadow to be the best and we have been back there a few times since we moved from Estes in 2003. But it has gone downhill as well.
For rafting I think Fort Collins (Poudre River) is the closest and that is a ways. But it is a beautiful river north of F C.
Offroading - I don't recall it being done anywhere near Estes and the Park and all the Forest land around the Park do no allow it. Some guy advertises it but not a clue where he would take you. Never even heard about it in the 8 years living there.
Do not know your rig but I have never recommended driving an RV over Trail Ridge Road (Hwy 34) for an RV - particularly a longer one and / or someone without good mountain driving experience. It is a good (for the most part) two lane asphalt road but has unprotected dropoffs and on the west side has several blind hairpin turns requiring taking your half (or the guy coming against you) out of the middle. In a toad or tv it take about an hour and 15 minutes if you do not stop....much more in an rv. Keep in mind also, it is a spectacular drive on the east side (Estes Park side - wooded on the west side) - one of the most beautiful drives you will ever be on. And it gets very, very crowded with drivers stopping to take pictures of elk etc (also known as an Elk Jam) - have seen people get out and just leave their cars in the middle of the road and wander off to take pictures.
Estes Park and down the Big Thompson Canyon (Hwy 34 to Loveland) had probably the worst flood in history last fall. We have, and continue to have, updates from our friends back there.
Hwy 34 to Loveland is now again a pretty good two lane road and passable - it was essentially wiped out for much of the 19 miles. But people have cautioned about RV travel because of, although the two lanes are good, there are sections where there is no protection off those two lanes (barricades, guard rails, etc). And it it curvy. And it can be busy and slow.
I do not know the status of Hwys 36 or 7 to Estes. The 36 was closed for a while but both are now open I believe - not sure of repair status on them.
Check CDOT for road info.
For the very most part, the business part of town (some have closed)is back to normal but check with the campgrounds carefully. And some of the beautiful surrounding towns like Glen Haven were destroyed. And nearly all the homes, etc. in the Big Thompson Canyon.
Fall River Road in the Park is closed for repairs for 2014.
I have rambled but tried to give you the full story as best I know it at this time.
Be safe - enjoy. Where you at in Illinois?
Lauren