We have a campground membership that costs about $400/yr plus a $1-10/night charge. This includes a membership to a campground organization with about 10 locations plus access to a larger exchange program. We break even or are ahead of staying in public or private campgrounds each year and I still work full time.
Some states have better reciprocity than others for weapons permits and some states have draconian restrictions regardless of residency. Spend your money where your interests align with the political agenda rather funding areas that do not.
SD appears to be my favorite if I go full time. I would like hear from others why another state was selected and its advantages.
If there is an area where I would not feel comfortable with no lighting, it would be an area I would avoid. If there is a large transient population or frequent sirens in the background (hospitals excluded), you may want to move on. I have no problem boon docking in residential, commercial, industrial or remote areas, but I will never do so where my intuition tingles or where I am not welcome.
I have an external alarm and lighting that can be set. These can be turned on if there is someone or a noise outside. I will make plenty noise or light to attract help before being confrontational and I have communication and secure shelter options available. You should have multiple levels of protocols you are willing engage to protect life and property.