Mainly talking about dispersed camping/boondocking with a small pop-up trailer and a used Roadtrek Class B RV: the challenges we encountered and the places we found. And some DIY projects that almost anybody could do.
Our rigs: Roadtrek 200 Versatile, year 2000, Chevy base
Aliner LXE 2018 with double dormers and cassette toilet/shower and cool cat A/C (A/C occupies lots of storage space)
Toyota 4Runner TRD off road premium, 2017, with all terrain tires added
A WORD OF CAUTION TO RV RESTORATION ENTHUSIASTS: Before you buy a cheap, used Class B RV, make sure you perform a simple and cheap "chemical block test". After buying ours (sold "As Is") the test showed a leaking head gasket, even though there was no sign of overheating. At that point we had to "gamble" on whether the head gasket was the only problem with the engine, or whether there could be a lot of other issues like needing new valves. We chose to get a new engine and it's great so far.