I would suggest gravel pits and rest areas outside of the towns you wish to stay at - Particularly Charleville one of the most unfriendly RV towns in Qld.
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We have stayed at two different free camps not far out of Charleville, one to the east & one to the west. The west one is nicer, but have stayed at both & would stay at either again.
East - 'Rock Pool' about 10kms out. More of an overnighter. Not far off the road, well out of sight
West - numerous spots, including one with hard standing along the Ward River - this is a tributary to the Warrego River but is quite a deep & wide river itself with lots of birdlife. Good for longer than an overnighter if desired. A variety of access over a few kms, some via bitumen , some via dirt road. Some harder to access spots from either requiring 4wd along the river bank itself.
Charleville we quite liked. (In 2017). The tourist info centre were very friendly, with good parking for long vehicles, free tea & coffee, plus free internet. The old fashioned butcher in the main street we filled our freezer had the best meat we have bought anywhere.
Windorah - free camping along the banks of the Cooper Creek is both pleasant & popular.
