We try to boondock all the time. We sometimes go to a campground when we are in places like Moab Ut. Now and then we dry camp at an Escapees park for a night or two to dump and shop.
It's varied wherever you go but you have to learn the ropes. I'm double towing at 65 ft long and cant just turn around. In an extreme case I could cram the utility trailer down off the road and unhook then get the FW backed off the road and turned around then drive past the utility trailer and put a chain on the trailer it to yank it out. I have never been in that situation because I'm very cautious and just pass things by if in doubt. It's easier to just move on to the next choice vs bust my tail.
If you aren't towing anything I would use the approach of not driving any farther in then you can back out of. If you are headed in and it looks like it's narrowing down or trees are closing in and there are places to turn around pull into one and ride a bike or walk farther in.
I use freecampsites.net, campendium and rvparky. I pick an area then look at Free Camp Sites. I read the reviews which might give valuable info like size limits, rutted road, low trees etc or it might be a review where someone says how beautiful the flowers are. Then I look at Google earth to see if there are any turn around or places I can get off the road and ride a bicycle or dirt bike in to check it out. I also try to pick two or three backup choices even if one is a Walmart.
As you approach an area you want to consider if it has rained recently or is rain forecast. I remember the
BD spot on the east side of the road before you enter the Badlands park. You would be looking to the east out over a vast field that dips down before ending along a ridge that looks out on th edge of the Badlands. I've seen motor homes in there and large FW but there is also a spot in the low area with a bunch of boards and deep ruts where people have been stuck in the mud.
I have also been to a few spots where there is a lot of glass from broken windows. Auto window glass is sometimes an indication that people have had their vehicles broken into. Part of the adventure is reading the area, the people, the terrain and figuring out if I want to stay. I like the west and the desert more and more and often find it to be rocky not sandy and a lot of the trees are scrub vs tall overhead obstacles.
When you use something like freecampsites dont take it as the Bible, it's just a tool to guide you. I've talked to people who used those apps and said they went to one of the spots and it was terrible and would never do that again. Well, they only gave it one try, I have had that happen and move on to someplace else. I also found the most fantastic spots like
THIS one. They say one mans trash is another mans treasure so one mans gravel pit is another mans paradise.