I regularly drive US-59 between eastern Oklahoma and St Joseph because it does a good job of avoiding major urban areas, however this is one of the routes that did not get selected for upgrades when the national trunk highway plan was updated in the late 1980s so you will go through the middle of every small town, and small to medium cities will have you in urban and suburban traffic.
I used to take 59 north from St Joe into SW Minnesota, remember it as mostly rural (expect slow moving equipment in season) but like Bumpy, for me this section was a long time ago, and some of the places along the road have grown. Was not camping then, so can't help on CGs. It is an area where there are flood control facilities for Mississippi tributaries, so check recreation.gov for Corps of Engineer campgrounds inthe areas you will travel. Those are usually nice for tenting and seldom restrict motorcycles.
Tom Test
Itasca Spirit 29B