This is an issue upon which to become very informed and think critically, like Gary says. By definition, the park systems restricts rights. Teddy Roosevelt sent out the army to basically prevent the dudes who were used to hunting in the park regions from continuing to hunt there. And as the world becomes more crowded, the solutions become harder to find. My Dad always used to say that your right to swing your fist ends where the other guy's face starts. As a corollary, he used to say that as populations become more dense, we interact more, and more law is required.
That all said, not everything done in an effort to conserve, or preserve, makes sense. I often complain that horses which often trample stream banks at trail crossings and shit all over the place are allowed in most parks while mountain bikes, which do not shit, and used properly, do not erode trails badly and certainly no worse than horses or other foot traffic, are not allowed. But there has always been this idea of historical use.
Around here, it seems they keep building more outhouses at trail heads, and keep leveling and graveling the first mile or so of certain trails in an effort to allow more disabled access. Not my favorite thing, but I suppose there is a need. National Parks and designated Wilderness areas are interesting places, and the rule is to preserve. There is a lot of other public land that is managed differently, including the beautify Sawtooth National Recreation Area (SNRA) which allows most uses, with some restrictions depending on the trail etc. The watchword there is share the trails, which works here pretty well. That is partly because we are remote from large cities, and the use is less heavy. In Western Washington, mountain bikes even in the 90s were thrown in with the dirtbikers, and forced to ride in ORV parks, and second growth private or BLM timber land as allowed by permission. I like the SNRA a whole lot better, and think it is ok we have a bit of Idaho protected pretty completely.
But the balance point is always hard to find.