Barbie, Barstow has always been a problem. I remember driving through a couple of RV parks/aka "trash heaps," and decided to keep on going. Since then, if I have to stay someplace near there, I go to the Calico Ghost Town campground. There is one area near the entrance heavily used by off-roaders, but if you go farther and to the right, there is a circle place where only RVs allowed--no dirt bikes or 4-wheelers.
I don't mind dirt as long as it is desert or forest dirt. It is the piles of trash around RVs that bother me and the dust that drivers kick up. There is a very nice campground next to the glider airport in Tehachapi that I really like, and it is gravel and dirt also, but well kept and no long-term permanent residents who are allowed to store car and RV parts outside, plus trash.