Sometimes I like to plan a trip in advance. In that case I use Delorme Street Atlas and set the start time to 9am, with a 6 hour drive time. After entering the start location and an end location you can enter stops (either over night or just a stop). If the drive time from one overnight stop to another is more than 6 hours, it will show an end of day location. I then google the nearest town for rv parks and use that along with online reviews to select where I am staying for the night or several days. I play around with the route until I am happy with it. Sometimes I may work on a route for a couple of weeks until I am satisfied with it. Delorme is ok, takes some getting use to. Before it I used MS Streets and Trips and liked it.
When I am ready to travel I set my vehicle's GPS to that night's location and hit the road. I tend to avoid using waypoints on my vehicle's GPS and find that entering one destination works best for me.
Hope this helps.
2011 30' Classic
2015 Ford F250 4X4 Platinum