The main, paved access to the national park is in the town of Port Angeles. Drive your tow vehicle up to the top and there are many nice hikes to do. I would suggest staying either in Sequim or Port Townsend or west of Port Angeles at Salt Creek County Park.
The next area with some nice hikes are in the Crescent Lake area and Salt Creek would be a good place to stay.
Continuing west you might want to stay at Forks 101 RV in Forks, which is very convenient for touring the rain forest and coastline. Beyond Forks your choices are very limited for nice parks.
Have fun and hope for no rain!!
Full-Timed for 16 Years
.... Back in S&B Again
Traveled 8 yr in a 40' 2004 Newmar Dutch Star Motorhome
& 8 yr in a 33' Travel Supreme 5th Wheel