A little late here but... we stayed at Canyon Gateway RV Park, just outside of town. We wanted to be closer to town for some down time. If your toad is 4WD, the view from the top of Bill Williams Mtn. is worth your time...cooler too!
Any of the locals can give you the directions. Also, there's a section of old Rt. 66 just west of town that goes into Kingman that was a nice drive.
We also stayed on the North Rim in Jacob Lake at Kaibab RV Village(really nice CG)prior to Williams. We found that with the lesser crowds, higher elevation and cooler temps, the north side of the Canyon was our favorite.
Jan and Bob