You will likely find little difference from the last time you were camping in Wyoming, but start at this page
Wyoming MVUMs and pick the ranger district that applies, look very closely at the MVUMs (motor vehicle use maps) as they are what counts when it comes to the rules on the ground. The MVUMs have the roads and rules listed as to where you can go, and how far off the road you can be... legally.
I have found plenty of discrepancies where the MVUM says one thing, but the ranger station says something else. Especially when it comes to the distance off the road you are allowed to camp. Some forests say one vehicle length. I have a problem with that as a guy like you could be a lot further off the road than a guy in a VW bug that's tent camping. The rules are in place as a common sense backup and I doubt a ranger would bother you if you are in a previously used campsite.
You will have to talk to the local ranger station to get their take on enforcement of the rule stated on the MVUM.
