May and September are probably the busiest times in the park. And Zion, like Yosemite and to some degree, Yellowstone, are very popular and accessible places, so yes, they do get crowded.
I think I know the campground you're speaking of. We have hiked that area a number of times.
Keith's guide to RV camping in the area:
South and Watchman campgrounds (in the park): If you want to be right close up, this is as close as it gets. South is dry camping and first come first served. Watchman has a good number of sites with electric hookups. Most sites are a reasonable distance apart. Advantage is closeness to the park and ranger talks at the amphitheater in the evenings starting in May. And if you like the comradery of camping, you'll find people here from all over the world.
Zion Campground & RV Park is just outside the entrance. Full hook ups in most sites and you can get sites right on the river if you like. No grass and just basics when it comes to restrooms and showers. Not what I'd call a pretty park but if you want FHU and still be close, this is as good as it gets. You can walk into the park from here.
Zion River Resort is in the town of Virgin just a few miles from the park. This is easily the nicest place to stay when it comes to RV Parks. Nicely maintained, friendly staff, and all the amenities. More expensive but you pay for what you get.
If you like dry camping and more of an escape from the masses, there are a number of BLM and Forest Service campgrounds in the area. Even they get filled up during peak season but they give you access to less crowded parts of the area. Some sites are free, most have a pay post to deposit a modest fee.
Just depends on what you want.
Keith
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