We stayed in Liberty RV Park last summer. Parking lot, but as close to the city as you're going to get. We were in the City all day and late every evening. No problems walking to metro into city and back. There is only one dump station, we left early on our departure date and only had one in front of us to use it.
One consideration might be to park your rv in the park and grab a hotel in the city.
2015 Georgetown Forest River 351DS MH
2008 Keystone Cougar 293SAB 5th Wheel
2007 Jay Flight 30.5RLS 5th Wheel
2006 Jay Flight 29BHS TT