We do all the types of RVing imaginable, but certainly prefer boondocking and drycamping for the extra space. We always search an area we plan to visit for our preferred method, alas there are times a crowded and cramped private park is the only feasible choice, still preferable to a hotel.
Being 100% self contained allows us to use our rig and all it's amenities without shore power, with over 100 gallons of freshwater onboard our only constriction is our black/gray tanks that require dumping after a week or so. By then we are ready to move on anyway to our next adventure.
We are pretty lucky to live in the mountain west/four corners region where a few minutes off any highway or byway leads to boondocking paradise. State and COE parks are pretty roomy and have found a few private parks with very large sites, some an acre each. Whether to enjoy nature or attend a concert or other public function in a large city, we love utilizing our RV.