We haven't encountered those types of issues while boondocking, we have found them to be commonplace at state/Fed parks over busy holiday weekends.
Nothing wrong with it being on your mind as it will keep you on your toes, always being aware of your surroundings will keep you ahead of the game no matter what type of camping your doing.
Over the years we have amassed a handful of favored spots for boondocking and feel safe utilizing them throughout the camping season, that is not to say we drop our guard, rather we have built a certain comfort level for these seldom trekked locations and don't fret about being victimized.
We love RVing and have found a plethora of ways to enjoy our rig, boondocking ranks right up there on top and nobody is going to take that away from us.