All of Arkansas state parks are a pleasant stay with good facilities.
We recently stayed at Columbus-Belmont State Park in Kentucky. Quite with nothing around for miles. The facilities are OK.
https://parks.ky.gov/explore/columbus-belmont-state-park-7809
We also stayed at My Old Kentucky Home. It sucked. The town, Bardstown, is very nice, but that Kentucky state park is a real shame.
https://parks.ky.gov/explore/my-old-kentucky-home-state-park-7821
Good luck on your trip. I like the way you travel. I hate the tether and bother of having to plan every move.