Here is my experience storing various things in WI. Remember, basically no moisture in the winter with -25F temps, jungle hot dew points in the high 80's in the summer. Wisconsin is a lush state all summer. Observations-
In winter, even sitting on the grass, underside will be fine. Once the ground is froze anyway. However, snow is HELL on everything because of the intensification of the sun. Snow won't rot a car, And if the car is blanketed it actually helps protect it. But the sun in winter with no moisture and snow to reflect it is really bad on paint and interiors.
Grass is usually the enemy, it holds dew against the car. Most people know this.
Gravel is better, because there is no grass to prevent wind from going under the car. Dew will still come up, repeats of this are not good over time but a breezy area will keep it reasonable underneath. Still not ideal.
Sand may or may not be better. If the sand has dew or will hold moisture it is no better. Have seen wooden posts dry rot away in what seems like a really dry gound, the moisture cycles do their damage.
Sheds, concrete floors:
Roof keeps sun off, generally a good thing!
Open air is better than partly open if you are going to leave something sit. Most of the year, an enclosed concrete floor is fine. In the spring, bad things can happen.
All winter the floor is cold. In an enclosed shed, the air and sun do not warm the concrete. Air will warm before the concrete. Moist air, warmer than the concrete, makes crazy condensation worse than any grass could ever strive for. I have seen farm equipment DRIPPING water off because the air got to 50 degrees from a south wind and the floor was still 35. Open the shed, pull your stuff out. Or run a dehumidifier, or pop a heater on to warm the floor even if you have to set the temp to 85 degrees lol.
Obviously a climate controlled or year round heated shed will not have this issue.
Other sheds:
I grew up with barns and machine sheds built in the 1800's. Our main machine shed had 4 bays, was all wood, and had a wood floor. Things from 1890 were in that shed and looked like they were used last week. Wood is amazing for storage. Obviously a good roof and doors to keep out the sun matter.
A second shed we had was built and then had about a foot of sand added. It worked well also, we would back loads of hay bales in sometimes to store over winter and they looked the same a year later as when they went in. Personally I don;t think things were quite as dry and safe in the sand floor as the wood floor, but things kept very well in there.
A third shed was built with one door and made deeper, it only had bare earth. Equipment would sink in the dirt some, but nothing went bad, paint was always nice, bolts didn't rust or anything. We had a wooden Oliver grain drill with the big wheels in there that stayed good, kept it's green paint and the lettering, and didn't rust. The big steel wheels would sink in about 4" every year, but nothing stayed wet.
All of these wooden sheds had equipment in them that was decades old and stored in them year after year to good effect. We had an old truck in the wood floor shed for 15 years and it looked as good as it did when parked when we pulled it back out.
Wood will not have dew. it will absorb humidity in the air, and not expel it so fast as to make condensation beads or the like.
"Barn find" has a meaning for a reason.
Part of the reason wood floors work best is because there is an air space beneath them. Our machine shed had rough cut 2x10's and hewn logs for joists, so there was a large space under. barns are similar. Throwing a sheet of plywood on the bare ground is not going to help.
For OP looking to park on gravel:
Keep the sun off of the paint and interior. Car covers invite mice. One of those car port things they sell would be good.
Jack the car up high enough to allow the air to freely move under the car. This will both keep the car further from the dew/ground, and allow the dew to blow out sooner. Nothing you put on the ground will stop the dew, not really. Not unless there is air space under it too. At a minimum, jack the car and put some old car ramps under the 4 wheels to get it up a good foot higher. Even a set of old steel wheels on their side can provide some extra room if you don't have ramps.
Moisture tends to linger longest in the shade of an east wall on a building. Maybe the sun can't cook it off before it goes past and the shade comes back after noon, not sure.
Dryer sheets help with mice. Chuck them all over, but avoid plastic stuff as sometimes it will react over time. Carpet and seats should be fine. Glove box, trunk, under seats, inside console, behind kick panels, etc. Get an outside cat