Scoring a campsite at popular U.S. national parks this summer is going to be harder than ever. Here are our favorite options nearby.

What my campsite looks like has changed over the years. From primitive camping in my younger days to pulling a self-built camper trailer now, the ethos remains to relax and enjoy the outdoors.

We’ve included that style of camping here, whenever possible. In some states, we’ve highlighted free, primitive campgrounds—developed sites with minimal amenities that don’t require ...