All three mentioned are good choices. Rancho Sedona is the only RV park actually in Sedona, which will put you the closest to great hiking and jeeping trails. Sedona is the number two attraction in AZ for good reason. But as indicated above, there are also more attractions all around the Verde Valley (Cottonwood, Camp Verde, etc.).
It's true there are many traffic circles (aka roundabouts) in Sedona, but most are one-lane and easily navigable. I have no problem at all with them.
You might want to check out RVParkReviews.com to read the reviews of these three parks. Look in Sedona, Cottonwood, and Camp Verde to find them.