@Workinghard -- If camping is out, then I think your next cheapest travel options will depend on what you want to do. if you would like to go somewhere and stay in one location for a week or two, then renting an apartment or condo is almost always going to be cheaper (and way more comfortable) than a hotel. We have done the cost/benefit math many times, and the tipping point where we rent rather than staying in a hotel is about 4-5 days. If the stay is going to be shorter than that, we do a hotel, but if it's longer, we rent. When renting, you have a kitchen and a nice base of operations, and you can 'live like a local' while you are there. We have successfully rented through vrbo.com (vacation rentals by owner) and the TripAdvisor website. We have heard good things about airbnb but have not yet done it. If you are visiting a known tourist destination (think Florida beaches) there will always be nice condos for rent. Some places allow their condo owners to rent out their places themselves, and some condo complexes have a central office or a property manager that handles the bookings. You can find both types of condo rentals on vrbo.com or TripAdvisor.
If on the other hand you want to be moving more -- a road trip with a couple days spent here, couple days spent there, then a hotel is usually going to be more cost effective. If you have a hotel chain loyalty membership and a credit card that will help you rack up hotel points toward it, you can score yourself a number of free hotel nights per year, depending on how much you spend on the credit card. Or you could get an airline credit card that will help you rack up 'Miles' , which can be used for plane tickets but also for hotel stays and rental cars if you book through the airline's travel portal.
Final note on campers -- some people with health problems, or who just don't want to 'rough it', use campers, which can be quite comfortable and luxurious. We have friends that have a camper, and we have a friendly debate going with them about whether they actually ever save any money using it versus staying in hotels. Of course, it depends on the camper (up front cost, gas mileage, etc). My take -- even for a simple/low-end camper I am convinced that it is usually cheaper to drive your own car and stay in hotels on a road trip, then visit the natural park areas by car/foot/bike during the day, returning to your hotel at night. Although we prefer to go into a park and camp with our tent, we do this car/hotel strategy on occasion (if the weather turns really bad, it is middle of winter, we couldn't get a camping spot, etc) and it works out fine. There is also a lot to be said for a hot shower, a clean comfortable hotel bed, and breakfast in the morning. :)
Good luck! Happy travels.