Which part of the country do you live in? We live in the Upper Peninsula of Michigan. There are many National Forests, as well as state, and so we go boondocking in the woods and fields on public land instead of in official campgrounds. That way we went a lot last fall and avoided the crowds. Now Since it is still not very warm up here I am planning to have us go out to the Southwwest and do the same thing. There, not only do they have National and State forests, but BLM (Bureau of Land Management) also. It is very easy to camp away from others.
I bet your Pup will love it!