The reading list
Link-out only. Agencies and primary rules, not people selling you the gear.
Federal land, where most of it is legal
Hundreds of millions of acres, generally free, with rules published by the agencies themselves.
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Camping
The BLM manages more land than any other US agency and permits dispersed camping across most of it. Stay limits, distance-from-water rules and the requirement to move on are all here, from the agency that enforces them.
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Permits and passes
Where a permit is actually required, which is far less often than people assume. Worth checking before paying anyone for access to public land.
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US Forest Service
The other large federal landholder, with its own dispersed camping rules that vary by district and by fire season. Check the specific forest rather than assuming national rules.
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Camping
The opposite regime: national parks are tightly controlled, campgrounds are reserved in advance, and roadside sleeping is generally prohibited. Know which kind of federal land you are on.
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Recreation.gov
The booking system for federal campgrounds, at face value with no reseller markup.
Towns, where it usually is not
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Van life
The phenomenon, its history and the legal patchwork around vehicle habitation ordinances. Useful for understanding why the answer is always "it depends on the city".
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National Weather Service
Wind, heat and winter storms decide more van trips than regulations do. Free, official, and better than an app.
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TripCheck
An example of what state DOT road information looks like. Every state runs one, and passes close more often than flatland drivers expect.