It depends a lot on your setup but for us, it's way easier / faster / cheaper to drive until I'm tired and then find a nearby
Walmart (or similar) that allows overnight stays, stop for the night and get back on the road fast in the morning.
There are actually several benefits :
1) You don't need to plan (and change plans if you get anything unexpected (e.g. traffic). Just drive until you are ready so stop and then find one nearby
2) I prefer sleeping in my own bed, having my own stuff and eating my own food.
3) It's fast, you can usually find a suitable place to stop within a few miles of the highway (often less) - campgrounds tend to be quite a bit farther. No setup, no registration. In the morning, we just have a quick breakfast and go and are back on the road in no time. We tow a car on a dolly behind our motor home and at many campgrounds, I don't fit in the site with the car attached so I have to take the car off the dolly when we arrive and then re-attach it in the morning when we leave. If it's back in sites, I usually have to take the dolly off as well (unless it's super straight, it's hard to back the dolly in the right place with the motor home).
4) We typically need supplies from Walmart anyway so stopping there saves us a trip later (I usually get the kids ready for bed while my wife goes to buy whatever we need).
5) It's free (although with our Thousand Trails membership we can often stay for free at campgrounds if there are any in the area, it's often better just going to Walmart).