Fort Carson iSportsman operates wildlife and recreation management on most of the remote maneuver sites. Some of these areas can accommodate RV's, as well as small trailers and tent camping. Camping is only allowed in specified areas, on specified dates. You would need to check with Fort Carson iSportsman (https://fortcarson.isportsman.net/camping.aspx) to learn what is open when. Of course, hunting is the primary sport for these areas.
Information, maps, and photos of the Remote Camping on Fort Carson and Pinon Canyon can be found here.