We are Minnesotans who do moderate backpacking and hiking (Grenell Glacier Trail, and Isle Royale National Park, for example). We will have about a week in RMNP and the Estes Park area. We'd like to do at least one overnight/2 nights backpacking into the park, but need to camp and acclimate prior to that, do some day hiking, etc.
When in Minnesota, we like to camp away from the car, and would like a little bit of the private, outdoorsy feel. We're looking for suggestions about camping in Estes Park or Grand Lake area that would be a good base camp for day hiking, but not RV Central.