I agree... camping/boondocking on public lands is safe compared to being around a city. If the places you're looking at states a table or firepit then it's probably a dry campground, not boondocking.
Keep in mind that you mentioned a 'summer' trip. BLM lands in the West are usually in the desert areas so without electric it could be very hot. Check out the historic temperatures on a weather site before you make plans. You probably won't want the firepit.
๐ Also keep in mind that there are tons of national forest service lands that have very nice dry campgrounds.
Full-Timed for 16 Years
.... Back in S&B Again
Traveled 8 yr in a 40' 2004 Newmar Dutch Star Motorhome
& 8 yr in a 33' Travel Supreme 5th Wheel