I love the National Geographic Road Atlas Adventure Edition ISBN 0-7922-8989-7 (2004). They're still selling it on the National Geographic website for $20.
http://shop.nationalgeographic.com...-and-reference/national-geographic-road-atlas
It lists National Parks, National Forests, State Parks and various points of interest. It's my go-to US atlas - I keep one in my car and one in the house. I hope they will come out with an updated edition soon.
I also make sure to get state highway maps (free at tourist information centers) for the states we're going to visit - they usually have a lot of detail (like county roads). We also have Delorne Gazetteers for our near-by states, but we usually only refer to the gazetteers if we see a "road less traveled" (not on the state highway map) and we're afraid we could get lost.
Here's a little gizmo I came up with when my parents came to visit me in Illinois from Washington State in their Pleasureway camper van. My father doesn't like to drive for too many hours a day so trying to figure out where he was going to camp from day to day was a big headache for him (and my poor mother).
We got a US highway map (one big foldout map) from AAA and I used the map scale and a compass to create 50 or 60-mile radius circles (I figured that's a pretty good hour drive estimate) on one of those transparent plastic folders (could also use a transparency sheet or something like that). Basically, it's a see-through bulls-eye with each line another 50 or 60 miles from center - I think I made it with 5 or 6 lines. Now my father can put his little bulls-eye on his starting point and have a general idea where 4-6 hours of driving (as the crow flies) will take him.
I also gave him a National Geographic atlas so he can see what State Parks or National Forest/BLM areas are in his driving radius. It made a big difference on his drive home – he didn’t have to spend a lot of time worrying about where he was going to camp.
They have a Tom-Tom and they love it, but it's sent them on some real benders. I don't have a GPS or a smartphone so I always bring plenty of maps...