The roads running along the Missouri River are 1804 and 1806... named for the year that the Lewis and Clark expedition made the trip up and the trip back.
If you go through the town of Linton, ND on hwy 83... make sure you stop on Main Street and get some goodies from the Model Bakery. Linton's "down town" is two blocks long. The Model Bakery is on main...north of the 4 way stop on Main street (not to be confused with the 4 way stop out on hwy 83). If you don't know what German Kuchen is, you are in for a treat. Plus the best home made goodies... date cookies if you are lucky.
Bismarck... Kroll's Diner has German cooking on the menu. Bonanza in Mandan has the best Knephla soup.
ok ok... there's more to ND than the food...
Fort Lincoln and the Mandan Village is on the west side of the Missouri River.
Medora - has the evening outdoor show and I highly recommend the Pitch Fork (steak) fondue before the show.
Walleye.... I'm lucky to have nephews willing to catch it, clean it, fry it and hand it to me on a plate... and lots of it.
Oh, you asked about camping... Many of the small towns have small city parks that have electric / water hookups. Linton, Hazelton are both on hwy 83 and both have $10 / night overnight sites. Some of the camp grounds along the Missouri River ... Beaver Bay south west of Linton were flooded out a couple of years back but I think they rebuilt. You should check that ahead of going. There are a few State Parks close to Bismarck that have hookups but they also have 10pm curfews where the gates are closed til morning. A lot of those river campgrounds have Cotton Wood trees and if they are shedding their seeds... it's a mess to deal with. Floats like fine cotton and clings to screens and vents and socks and shoes and pants....
Google the Enchanted Highway... and if you have time, take a side trip to look at them.
(oh, and the north unit of T.R. National Park has more wild life than the southern unit.)
JMHO
Kathy