Phoenix is big and spread out and if you camp there you will either need a rental car or drive your RV or stay put. Simple as that. We stayed wayyyyy out of town at a lovely Regional RV park - McDowell Mountain Regional Park but it's 30-miles from everything in Fountainview.
In ABQ we always stay at American RV Park but it's out West on I-40 and you'd need a vehicle there too. You could bike into town from there easily because it's all downhill. But back would be brutal - it's not known as 9-mile Hill for nothing.
2015 Forester 3051S
TOAD: 2016 Lincoln MKX