My wife and I have and will continue to travel every couple weeks in our SCUBA unit. ( Self Contained Ultimate Biohazard Avoidance). aka RV.

It is good for over 600 miles between gas fills.

We have less contact with others when traveling than at home, even though we live on 2.6 acres. Having our own toilet always available is so nice. We are good for a week at a time between water refills and dump, and only need grocery stop about once a week.

We rarely use private campgrounds/RV parks. But I’ve been doing this over 50 years so know how to do it. This summer county fairgrounds are a good option. Often have it to ourselves.

But then we’re spring chickens (73 and 70).

In late April, my wife and I traveled home to NY from FL. I researched all the travel tips I could find and we came up with a final plan of attack.
First of all, stay in a major hotel chain. Someone said that a major chain would more likely sanitize their rooms better because they’re more anxious to keep your business. We stayed at a Marriott off the beaten path.
Wear gloves and a mask.
Before we entered the room we wiped down the doorknob with sanitary wipes.
Inside the room we wiped down all surfaces that we would put our possessions on (luggage, etc.) and all countertops that we might touch or put stuff on.

Pull the coverlet/quilt and throw it in a corner. ChamberMaids are less likely to wash or replace them if they “appear to be clean.”
We sprayed the cover sheet with sanitizer, pulled it away from the fitted sheet, and sprayed the other surfaces of the sheets.
Bring zip lock bags for the TV remotes. That’s the dirtiest item in the room.
Make sure you wipe every surface in any area like night stands and the bathroom sink countertops, toilet bowl and seat, faucets. I know I mentioned this but it’s important.
Don’t eat in the dining room if you can avoid it.
The hotel provided a bag of breakfast foods on our way out for each of us.
On the trip we brought our own drinks and food (peanut butter & snacks) to make in the car for the ride.
Your own towels probably wouldn’t be a bad idea.
End note...we’re alive & no COVID-19 as a result.
Wear gloves and masks in rest areas and carry some sanitary wipes in zip locks for the restrooms.

While I am sure it can be done safely however, I would consider staying home and making day trips. The kind where you stay in your own vehicle, get out where it is safe and take photos, use drive through access for food and come back home at the end of the day. I think it is playing the odds. Stop to think of the number of surfaces you would need to touch going into hotels etc. and in the hotel room, someone may have touched many of the surfaces and a little thing like turning on the TV could cause you to pick up something you want to avoid. I find day trips fun and enjoy the ability to relax at home in the evening.

F.F. Drive-in's are relatively safe, but have a mask on and rubber gloves close-by. If possible stay in a highly $$$ rated hotel, NOT a small cheap Motel. Possibly even a well recommended B&B, if groceries are needed find store you can "Call-in" your "Must have" order then they bring it out and put it in your car, (Walmarts, Kroger, etc.) Try not to use Gas Station Rest Rooms, if necessary bring wipes with you. Be Smart & Be Safe!! Also wear Gloves when Pumping gas, a million strangers have come before you!! Also, do not Swim in Hotel Pool.

Yes, getting out from this depressing lock-down to have a refreshing feeling is a good idea! Besides all those common advice of wearing mask; social distancing; washing hands; cleaning all surface wherever you are etc...etc. fine, I here have one more suggestion, pay attention to the air indoor where-ever it is. especial in the hotel room, if the A/C system is a central system that will circulate the air all through out the whole hotel area, if some area is contaminated that the dirty air will end up into your room, you won't know how the condition of their filter if it has been changed frequently, it is same as the window unit if it's using in the room.

So make sure wear mask all the time, but it's so difficult when sleeping. May I tell you some of my story, my daughter and Son-in-Law came to visit us last month from NY, We didn't see each other since last X'mas ,they choose to check in a local hotel to avoid any risk to every body when staying in my house. We meet and see each other in out door area and at a out door restaurant. I did tell them the same warning about risk of the air in the public indoor area. This is only my thought! Have a very nice safe trip!

We own a small RV and are on a 7 week trip that included Yellowstone. We have avoided all indoor activities except grocery shopping. We've avoided all outdoor activities with crowds like Old Faithful. We observe the grocery store for both employee and customer behavior before shopping. We rejected one in Wyoming! We feel safe and believe we are doing our part to help slow down the spreading of covid.

There are plenty of alternate food choices that any car traveler can take to avoid restaurants. Public bathrooms may be the most difficult for roadtrippers. Look up "TravelJohn". They were developed for pilots of small airplanes and will keep you out of the public bathrooms!

(I have never been happier to be the owner of a small RV. I've enjoyed 5 of them over 25 years. Even the experts will say RV camping is about as covid safe as it gets.)