Am not out there now, but can understand your trepidations.
If you can believe them try a couple of the you tubers channels and their spots. A member who shows up in here occasionally has a channel called "Grand Adventure"
His security videoHe also has one on specifically how he finds boondocking spots. You may find them helpful, maybe not.
Or maybe
Love your rv Both will give you some ideas for methods of selection and areas to visit.
Personally, for getting started, it may seem counterintuitive, but go farther away from towns or attractions. Being near a large lake, reservoir, or other tourist draw, also draws un desireables. Go for the middle of nowhere a few times. Then look back towards people.