From the FAQ:
Q: What if I want to camp and not stay in hotels?
A: Well, you’ll miss the camaraderie and bonding that happens in the evenings, and that would be a real shame. But we admire you for wanting to be involved in your own way, and motorcycling is all about freedom and independence, so go for it! KOA Kampgrounds often have campgrounds in or near city centers, so we suggest you download their app and stay with them. That would be the easiest way to find camping locations across America.