Traveling great distances with kids, you need a solid plan of things go south quickly. So I disagree with most comments here about not booking where lay overs along the way. Time things out, with gas stops about every 100-120 minutes (that's about the best you'll get with the gas tank size in the Tundra!) and see what towns are around you at the end of the day.
If do not book ahead, you run the risk of raised stress levels (of which, you don't want your wife stressed!!!), a lot of wasted time, and a very unhappy family who wont want to do long road trips in the future.
What I would add and recommend for a night or two, is if you can drive till the wee hours of the night, stop in for an overnight at a Cabala's, Camping World, or even a decent WalMart (use the RV parky app) to catch a little sleep and get back on the road.
If you cannot drive late, then booking a decent site is even more critical because the kids will need something to do at the campground. If you stop at 5pm, there's 4-5 hours left in the day to account for before bedtime. Time you could have been on the road...if you planned and booked your stops accordingly!