General speaking, it depends on a lot of factors but I have done it without problems in NP campground here on the east coast. The general rule is if it's a site directly at the each individual parking area, you aren't taking the last tent site, you don't plan on running a generator and the sites cost the same, it's okay especially if the RV sites are limited and you they are close to filling up while the tent section has a lot of sites available. I was told it was a definite no-no if it's a hike in tent spot with combined parking lot (even if the parking spots were individually marked). In between and it's anyone's guess. However, I always try to ask before occupying and if I can't ask always try to take an RV site.
Confusing - yep.