Super hard to find campsites. I was looking and found www.campsitenotifier.com
I guess it is free. Seems to work well. I got it off of the app store. tried it this weekend and got notification of an opening at Zion for the weekend i chose
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Maybe you’ve already thought of this but have you considered dispersed camping? You don’t have to find a designated campsite you just camp wherever yous see fit. I have done this multiple times in Mammoth cave national park in Kentucky it was awesome. Lots of national parks allow dispersed camping. Let me know if you want more details.