I love the Mosel and Rhine. Our last trip was like this.
Wehlen - private aire Stűdert Prűm. Walk upstream a few hundred meters for a boat down to Bernkastel Kűes.
A little upstream is Traben Trarbach. Nice walk along the river to town, a good winery just opposite entry to the stellplatz. If you time it right in October, walnuts will be falling off the trees.
Zell is next, it's lovely but gets busy early.
Then Cochem, you've missed the wine festival at Pommern though; but if you want a campsite for facilities by then, there's a decent one there and you can get the boat downstream to Cochem for a visit.
We'd cross over to the Rhine from there - we last visited Braubach which was pretty but there's a railway line nearby with freight trains running all night. We didn't sleep.
Then Oberwesel, you can get a boat trip from there up to the Lorelei rock, and Boppard which is well worth a visit. As long as its not torrential rain like when we went!
Bacharach might have been my favourite place on that route. We stayed at Camping Sonnenstrand and had a waterside pitch.
There are two ferries across the Rhine so you don't have to drive miles for a bridge - Oberwesel - Bacharach, and Sankt Goat - Sankt Goarhausen.
Hope some of that helps.