I read and commented on your previous post. I have this to add to your new post.
"Boon docking" refers to camping without site hook up facilities like water, sewer, or electric. But, it also means camping in remote unimproved locations.
"Dry camping" refers to camping in campgrounds without using facilities. Reservations are frequently required, especially in pandemic conditions.
Some camping systems overlap these two definitions. For example, Big Bend National Park in south Texas has full hookups, dry camping, and boon dock campsites. However, all sites require reservations. Big Bend was also closed to camping due to the pandemic.
Walmart is between boon docking and dry camping. It is definitely not remote. It does have flush toilets.
Camping rules vary a lot in different regions. The only way to know at any one moment is to check websites or call ahead.
I welcome you to Wisconsin. Almost all state parks, state forests, and national forests are open. Many local county and city parks are as well. Masks in enclosed buildings are required at the moment.
There are campgrounds in most of these locations. Facilities in each vary. Some are open in winter. Some are not. True boon docking is available in some state and local forests. Some boon docking forest areas require permits which are often free. All registration and permits are only available on-line or by mail. Almost all have toilets and potable water. Some have hot showers and flush toilets.
This Wisconsin State website is for state parks and forests:
You can find current conditions, get permits, and make reservations. Rustic northern campgrounds usually charge much less. Popular southern parks charge more. Boon docking may require a free permit.
I highly recommend Wyalusing State Park and Copper Falls State Park.
This one is for National Parks:
This one is for National Forests:
National Forest campgrounds in Wisconsin range from paved sites with electric, to remote unimproved boon docking. Campgrounds require reservations. Boon docking often requires a free permit. Most National Park campgrounds in Wisconsin are closed in the winter.
Most Walmarts, Cracker Barrels, and other friendly business are available and safe for dry camping. Milwaukee and south to the Illinois state border are much busier and therefore less safe. Call and ask individual stores to be sure.
Some small northern Wisconsin cities have city parks with dry camping sites that may be temporarily free or for small fees.
This website is provided using input from viewers and is usually accurate. It is sometimes a bit slow, be patient:
Things change moment to moment this year. Calling or checking on-line for all locations is definitely recommended.
I wish you good luck and happy trails ahead!