Again, it’s a different world out West/Northwest. Sure, you still need a few maps, but it’s really easy to boondock without being anywhere near private property. Frankly, the bigger issue is other campers in more popular and easy to access locations. But, there are also a lot of unimproved campgrounds on BLM and National Forest land.
I’m not going to urban camp unless I’m super tired and can’t find any commercial place to camp. Many campgrounds will allow you to camp with no hookups for really cheap fees. I find that safer than staying at a Walmart or similar if it’s allowed and quieter than a truckstop.