A few years ago we took a leisurely ride north through western Virginia. Nice country and lots of history. Virginia state parks are pricey with lots of add on fees (dog fee, registration
fee, etc.), so we tend to avoid them. Usually we go on the Blue Ridge Parkway but this time we travelled on back roads west of and paralleling I 81. We camped mostly in NFS campgrounds in both the Jefferson and Washington National Forests. My favorite was Stony Fork near Wytheville. Nothing fancy, just a single loop with a stream that meanders past almost all the sites.
You will find lots of good information here.
Campground Directory and National Forest Campgrounds
These folks give descriptions and directions to all the NFS camp grounds. What a way to make a living!
Safe travels, Raz