St. Joseph, Missouri-Kansas, Outdoors Recreation
Hopefully this site will give you some helpful information. I too live in NorCal, and though I've visited St. Joe on two previous occasions, I haven't stayed in any campgrounds there or nearby.
You might want to make the Lewis and Clark State Park your default location if you want to stay in an RV, as it's part of the Missouri State Parks system. The MO State Parks home page is here:
Missouri State Parks and Historic Sites and the Lewis and Clark State Park page is here:
Lewis and Clark State Park - Home Page - Missouri State Parks and Historic Sites, MoDNR
One caveat I just happened to come across: They're replacing the septic system at Lewis & Clark, making the campground shower house and laundry room unavailable until mid-May. That might be after your planned trip.
The next closest state park is Big Lake State Park:
Big Lake State Park - Missouri State Parks and Historic Sites, MoDNR It's off I-29 between St. Joe and the Iowa border, and there are probably a number of campgrounds you can stay at that are closer to town.
Hope this helps! I sure hear you when it comes to trying to save money, so I'll wish you the best with that as well as decent weather while you're there. No sudden severe thunderstorms!
