We stayed at Autumnwoods this spring. The campground was neat as a pin, and the people very friendly. It is outside the city near the airport, but it's an easy drive to the clinic. We told them we were there for a Mayo appointment, and they gave us a discount.
On edit: there really are no places near the clinic to park an RV. They have ample space in parking ramps for patient parking. Autumnwoods has a shuttle you can take to and from the clinic. We just drove our toad from the campground.