Bill is right about Goulding's. There is a very comfortable campground there, in fact, the only one anywhere near Monument Valley Tribal Park. 2 nights was plenty, as there aren't many places you can go off the main highway on your own. You will want to sign up for a guided tour of the valley (full day is best) as that is the only way you can see most of it. At night at Goulding's they have a small room where they show John Wayne movies which were filmed there. We saw "The Searchers" and it was a really good experience.
There is also a decent campground in Escalante, which will allow you to leave your trailer and explore by car. Grand Staircase/Escalante National Monument is a really big place. Eat dinner at Hell's Backbone Kitchen in the Boulder Mountain Lodge in Boulder. If you are up to it, there is a great hike (2.5 miles or so each way) to a waterfall called Calf Creek Falls. Really epic.
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