I'd like to add one thing as regards where-to-park:
There's a difference between boondocking and what is sometimes called "stealthcamping". As the latter term implies, it's a mode of "camping" as inconspicuously as possible in places where one has prior knowledge that such activity may not be allowed.
I never indulge in this activity. I have enough to worry about when on the road without adding the potential of midnight visitations from the Authorities or, worse, an irate landowner
It isn't just fear of getting rousted/caught, though. Plainly put, I have very strong feelings about Private Property rights and take great pains to avoid EVER parking on such land without specific permission from the owner. I don't rely on the presence/lack of signage, either- I presume property to be private unless my copious maps etc. indicate it to be publicly owned.
In all my years of boondocking I've never found it necessary to use such land without getting permission first- whether it's a parking lot in a town or a dirt road in the country.