dewey02 makes a good point about the deer. It's wise to avoid driving those roads during dusk hours and after dark, when the deer are up and moving. The chance of encountering one with your grille is much greater than the chance of run-ins with wolves or bears. Just store food properly.
For boondocking in national forests, it's a good idea to consult the MVUM (motor vehicle use map) issued for each such forest so you know the rules about how far off the road you can pull your vehicle, etc.
There are a handful of small (2 to 4 campsites each) NF CGs along your route in MN that are free of charge; but they all tend to be 30 miles up some out-of-the-way gravel road.
