We spent one night at Canyon Village. Most of the sites are short and either back-in or pull through. Of the 273 sites, only three are accessible and most likely unavailable unless reservations are made months ahead of time.
The Canyon Visitor Education Center has exhibits about the Yellowstone caldera, hot springs, geysers, and geologic forces that formed the park. The museum is accessible. The parking lot has long RV spaces. 
We drove along the North Rim Drive and stopped at most of the overlooks . Many of the views are blocked by high stone walls. Skip the first lot if it's crowded because the viewpoint is accessed by steps only and it's easier to find parking spots in the lots farther along The trail from the Lookout Point parking lot to Grand View parking lot is paved. There are accessible parking spots but the trail is very steep and difficult even with assistance. Inspiration Point has a small loop lot with parking along the sides. A switch back paved trail leads to a good view of the canyon and river.
Our next stop at Forces of the Northern Range, a boardwalk, interpretive trail. This trail was built as an accessible trail and is fully accessible. The signs interpretive signs explore the natural history of the area including glacial boulders, open meadows, and the role of fires. The parking lot is small but doesn't fill so there is room for RVs.
Our last stop before leaving the parks was Mammoth Hot Springs. The area is constantly changing as the hot water bubbles up in different locations. We parked at the lower level and took the only section of boardwalk that doesn't have steps. It's very short but leads to beautiful travertine terraces. RVs will fit in the lot at the beginning of this boardwalk. There's also a lot just to the north where RVs will fit. Park 44.65702, -111.09015
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