I grew up doing mostly primitive dispersed camping, and that's what my wife and I did most of the time too as adults. Initially in a tent, then a tent camper and now a fifth wheel. Our youngest daughter, currently 3, is disabled and campgrounds tend to work better for her to get around so we do that most of the time now, albeit mostly non-hookup USFS campgrounds or partial hookup state parks. As she gets older I expect her to be able to get around easier so hopefully we can start sprinkling in more dispersed camping again.
We only use what I'd call an RV park for an overnight stop someplace or as a stand-in for a hotel. I don't consider it camping although I also don't think there's anything wrong with it - it serves a purpose.