As an avid and experienced boondocker, I agree with almost everything AH64ID said. The only difference is that we do not put gray water on the ground -- it is against the rules in most of the national forests we visit. If it is not against the rules, then we would, I guess.
Boondocking is more work than other kinds of camping -- you have to haul water, you have to find a site, etc.
To me, it is more fun than other kinds of camping -- silent, private, utterly peaceful.
We have never felt threatened while boondocking. I have felt uncomfortable in an ordinary campground when other campers get drunk and party loudly. Not often, but it happens.
I have both a generator and a solar panel -- we try never to use our generator. The point of boondocking is to get away from engine noise.
My only regret is that we did not start camping till we were in our 50s, and we did not start boondocking until our mid-50s.