It's a beautiful drive and you will find lots of places for rest stops, some official and some not. I live in Glenwood Springs and I really wouldn't consider it very RV friendly, especially now that they're working on the new bridge and traffic gets really backed up. You could take the W. Glenwood exit and turn west and find a nice mall and rec center with good parking, though I don't know about overnighting there, but a good place for gas and a Target. Rifle and Grand Junction are much easier to navigate and have more RV parks, etc.