Miscreants, brigands, and other evil-doers do not waste time driving random forest roads at night looking for vulnerable boondockers. They stick to known areas like around campgrounds and highways.
If you are out of sight and sound of a main road the odds of anyone finding you are microscopically low. Leave all lights off when you go to bed and it is hard for anyone to spot your rig unless their headlights sweep across you. In which case you will know they are present.
We have a few local boondocking sites we use that most people could not find if I gave them the coordinates and drew a map, let alone accidently stumbling across our campsite.