We camp all over the deserts of So Cal - no campgrounds. Drive miles down back roads, washboard roads - don't see people for days - 100 miles from any store or gas station or highway. Other times we camp in the desert with lots of people around and near towns, but still no campground - so I guess that's boon docking.
When camping in the mountains/forests of California we prefer USFS campgrounds because of the fire restrictions. No campfires/BBQ and sometimes no camp stove when boon docking in the forest, but can usually have a campfire in the USFS campground - but not always. There is one USFS campground we go to yearly, that might have one or two other campers in it.
Wally World - no can't do that.
