As for Estes, I'm less of an expert. I'd usually just day-trip it. Alternately, you could get a wilderness permit, and get one of the backcountry sites along the approach to Longs.
for Longs, the Park Service has a tent only campground right at the trailhead. Google Longs Peak Campground. The second best pay sites are at Olive Ridge campground run by the Forrest Service. It's on hwy 7 about 10 mins from the trailhead near Allenspark. There are other free sites in the area with no services and are a bit of a drive (20 mins) to trailhead. PM if interested. There are of course LOTS or pay for camping areas in Estes itself.
Eldo is a bit harder to find camping. You might just want to set up your tent in somone's backyard in Boulder.
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