That's a lot of acronyms that this civilian doesn't understand, but I appreciate your family's service.
That's a long drive for one day in an RV. Good for you for breaking it up into two days.
Bako is in Kern County, and they seem pretty sensible about their restrictions. (We camp a lot on the other side of the hills, closer to Ridgecrest.)
The recent court decisions are showing that some of these blanket restrictions aren't holding up to scrutiny. Specifically, the L.A. County restaurant closures were found to be "capricious and arbitrary", and they don't weigh any risks from staying open versus risks of closing.
In your case, I think you're wise to weigh the risk of driving past your safe limits against the risk that The Man doesn't want you to camp overnight. Which one is safer? If you have a contactless checkin and practice social distancing by staying in your own RV, you are much safer spending the night there than you are driving past your limits.