We also stay in the national park's campgrounds rather than outside in RV parks. We feel you just get a better experience by being right there. Google for the parks you're interested in and find the official nps.gov (national park) sites for accurate information on the campgrounds and other activities. You mentioned boondocking and there are many national forest campgrounds in all directions of these areas. Check in the park's ranger stations or newspapers for activities to include in your stay. There are plenty of wonderful things to take advantage just by being in nature. Have a good trip!