I'll bore everyone with another example.
We often take a particular trip of about 300 miles for fishing in the summer. We do it over a 3 or 4 day weekend. We can leave home on Thursday night after work, and be on the road by 6pm. By 11 or 12 midnight, depending on how tired I am, we will be close to our campground, but that is not a good time to be pulling in and setting up. We have several places that we boondock overnight. One is an abandoned WWII airstrip at Manzanar. Another is a state rest stop. And if I felt really good driving, we might park on a pull-off that is literally less than 1 miles from our campsite. Either way, next morning we pull into our campsite, setup camp and fix breakfast. We've saved $20 campsite fee, which is meaningless to me. More importantly, we've avoided disturbing neighbors, and avoided backing into an unlighted campsite in pitch darkness. This campsite has no hook-ups. So really, what is the difference between where we parked, and our campsite?
Like I said above, boondocking is not for everyone.