Sites near towns

Having a motorhome and not towing a car its nice to find sites that are within walking distance of towns local attractions etc. Many years ago when we had a caravan we just got in our car and off we'd go.. everything needs alittle more planning in a m/h We are not afraid of walking or catching buses but its nice to find sites in a town especially in the winter. Now I know I could just look. and I do..on Google maps but I get bored. so any suggestions. We do like Tewkesbury it suited us and our dog