Boondocking is not staying without hookups at state parks, national forest campgrounds, etc. That is dry camping. It also is not staying at WalMarts, truck stops, etc. That is a one-night stop enroute to somewhere else.
Boondocking is finding a spot on public lands such as national forest land (not campgrounds), BLM land, state land (not campgrounds). In some states you can stay at fisherman's access areas run by the state.
I just looked through my boondocking reference sites and there really isn't anything in Maryland. You might want to do a post for Maryland in this site's boondocking forum. Also, look on the top of that forum at the 'Sticky' to see pictures of fabulous boondocking spots. Most are in the West.
We do a lot of it but it's in the West and there are miles and miles of remote roads to get you to that 'perfect' spot, preferably with no one else around.