I did about the same thing five years ago. Wife and I kept looking this year at FW and neither want to go back to that style.
Even with the FW We seldom made reservations except today weekends. Exception would be we may call a couple days ahead to make one for places like Yellowstone. But we avoid the big parks during peak season. Yellowstone peak season is from weekend before July 4th through August.
You already know you will like it but will probably enjoy it even more since not feeling guilty about the FW sitting unused.
Happy travels.