We, too, do much of our cooking outside on the grill. We have a Weber Q100 that we carry along. After many years of using the Weber folding stand that required advanced origami skills to set up, we picked up a tailgating table last fall from Sam's club. It has a fold-out metal section for your grill. So far we like it! Lots of food prep space and plenty of room to set things down, along with room for the single burner propane stove we have (but don't use as often as we thought we might...we mostly cook on the grill). I also like that it has a paper towel caddy and a garbage bag holder. For as big as it is, it is fairly compact when folded.
http://www.samsclub.com/sams/lifetime-tailgate-table/prod3550079.ip
We also have an EZ-up that we don't carry along all the time. We do carry it when we know that our camp site will be big and open and that we'll use it. But quite often our awning gives us plenty of coverage and we usually set the picnic table up perpendicular to the RV underneath the awning. That works well for us.
Also to note, we have an extend-a-stay on our onboard propane tank, so we attach directly to that for our grill. Very convenient to not have to carry along little bottles or a spare big one.
