A Question Are you limited to life on pavement

We routinely camp at smaller campgrounds and rv parks that are away from the cities. We are under trees, have grass and leaves, a firepit that we have a fire occasionally, or sometimes even cook over the fire. It is true that we may or may not be on a cement or paved pad and like to have FHU when possible. One of the only reasons we prefer a pad is that as a big rig the ground is unpredictible when it rains. Yes, we have been stuck in mud 2X - up to the axles.