I don't think there is a book for this specific criteria.
There are books available that list the aires and then there are books for campsites but not just municipals.
Municipal sites are not free, they are fully operational campsites and are usually cheaper than commercial sites.
Aires are mostly free, these are not campsites though. There are rules like not being able to put out tables/chairs and you are not meant to stay for extended periods.
Some aires do charge, some have chargeable EHU, some have free water, others have chargeable water.
'Aire du camping car' as signposted in towns, not always free. Sometimes outside the camping municipal & you have to pay at reception. Others will have coin in slot facilties(4€)for water/toilet tip/ehu.
In touristic areas & seaside towns you will often see 'unofficial' motorhome parking, ie not actually designated but motorhomes just park without any problems. No cost but no facilities either.
None of this is to be confused with motorway services also called 'aires' & probably not the ideal overnight stop for various reasons.
Just found the camping cheque book which looks very good, going to see if I can join, think it would save us a fortune this winter while travalling through France and Spain.
Another good book is the ACSI Book available from the Camping & Caravaning Club which lists a stack of camp sites all over France /Europe with directions etc all at discounted price either 11/13/15 euro per night incl power. All you have to do at the site is show your ACSI card no need to prepurchase camping cheques etc, also its safer no cheques to lose/stolen and no money to lay out before hand. We used the card this year in France and had absolutely no probs, and didn't have to prebook any of the sites we used.
The descriptions in the ACSI book are not always accurate and we had a case in France this year where the site overcharged,ignoring the book price saying they will charge what they want
There is no separate list of municipals. They will all be in the Michelin guide & usually(but not always)marked as such. Some municipals have been sold & are now private campsites & others have been closed down. These are ones well out of the way that were little used & the local authourity was no longer prepared to subsidise a loss making campsite.
Sometimes a municipal is not actually marked as such on the sign outside & 'camping municipal' only appears on your reciept. Prices have risen & the days of a 4€ p.n municipal have gone.
One of the municiple sites we stayed at this year charges 7 euro per night, it was by the river, the only problem was the BARRIER
you had to go to the Maire to get the key card €100,oo deposit!! but you still couldnt get out through the electronic gates because of the HIGH Barrier!! the attendant who was only there for 1 hour in a morning and 1 on a night
Would not stay there again, it was empty also, wonder why!!