The I-470 tolls for RVs are pretty steep. The road is fine if you're a commuter and don't want to deal with I-25 & I-70 during congested times. When I travel around Denver, To go S I use U.S. 6 from the west to I-25 S to avoid some of the slow areas. To go towards the N, use I-76.
From the East, I-225 S to I-25. to go toward Colorado Springs. If going N, take I-270 N to I-25 N.
It's not perfect, but you avoid some of the slow spots. If you really know Denver, there are other surface streets you can use. If you know you want to head south from Kansas I-70, take U.S. 24 to Colorado Springs.