1. I see that you are from Italy. I have camped at a number of boondocking and Bureau of Land Management (BLM) or National Forest (NfS) sites. I have never felt unsafe. Sure there are "bad people" everyplace. I can also understand how one may feel unsafe when in a different country. I do not feel as safe in Canada or Europe as I do in the USA. I would not worry about safety.
2. Check out the campgrounds at
RV Park Reviews To experience the real USA west stay at some campground that are not "in the city". Dry camp or Boondock a few days. For example near Monument Valley we stayed at Gooseneck State Park in UT. We were the only person within 20 miles. When we were there camping was free. I think now it is $5.00 a night.

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3. Check out my posting on
Death Valley. We are going to camp in DV in the summer to say that we did. Maybe we will see each other.