We were just in Pittsburgh in June/July with our 28-foot Class A. Absolutely no place to stay in an RV within 25 miles of downtown and Heinz Stadium. We were staying at a hotel across the river from the stadiums (Hilton.....would never stay there again for love nor money) and they had our convention attendees parking in a lot behind Heinz stadium. I'm sure there are parking lots where you could park during the game but suspect they'll charge you double or more (lots ranged from $5 to $20 per day) and not allow you to stay overnight. And driving around the area in an RV....oh brother.
Broncos Fan here.