Actually, to me RV boondocking is just plain challenging, the same as backpacking ... which I do, too.
With backpacking I know one can get to amazing out-in-the-middle-of-nowhere places, guaranteed, if you just prepare and have the patience to endure until you get there.
With boondocking, the challenge is to get out-in-the-middle-of-nowhere all right - just like with backpacking (but maybe not quite as far out and/or far up) - but also to, when out there, live just like you live at home. This kind of challenge is a whole different ballgame from backpacking or day-hiking. Dealing with these two different types of challenges requires two different sets of skills, with one being in no way superior to the other.
For instance we love rockhounding, way out there if necessary and in hot weather, too, if necessary. There's nothing like (IMHO) coming back to the rig for a lunch of good sandwiches and cold drinks and then maybe taking a quick nap, all in complete air conditioned comfort with no folks around for miles ... and then in the evening, after gazing for a bit at a spectacular starlit sky, going into your heated rig to curl up with a good book or movie. Priceless!!