In my younger days boon docked a lot. Never seemed like rocket science. Things have changed a lot over the years. In this day of crazy people I understand questions about it. Never know who might wander into your camp site. I think being observant is really important. If you feel uncomfortable don't camp there. BLM land is a great place to boon dock. Their office has maps etc. for places to camp. Also U.S. forest office for their maps. In the western US probably more remote places to camp. In the 60 years I have been camping there have only been a few occassions where I moved on be because I had any concerns. Having a dog that barks to warn you of problems helps. Most of the problems I have had is the people that will steal stuff when you are away or sleeping. A barking dog scares sneaky thieves away. Fortunately 99% of people you meet boon docking are good people. Being a retired LEO my first course of action is to avoid situations by being observant.