I haven't had a chance to "tour" on a bike yet. Looking forward to it though. I might wing it then but for now I always plan and make reservations when the wife and I go on overnight trips. I'm always worried about the place I want to stay selling out. So far, if we go for more than one night, we stay in the same hotel and explore the area having a "home base" to come back to.
Last year we stayed in Kanab, UT and visited Zion NP and the North Rim of the Grand Canyon. That was an awesome trip!