wild camping
One of the benefits of having an RV is boondocking, which is free camping away from commercial campgrounds and energy hookups.
Campground owners in the county complain that boondocking is cutting into their business.
The practice of boondocking or dry camping in the store's parking lot is tolerated.
The website has a list of GPS coordinates of good boondocking spots.

SMART Vocabulary: related words and phrases

Camping
backpack
bivvy
bivvy sack
camp stove
campcraft
camper
camping ground
camping site
encamp
flysheet
groundcloth
groundsheet
lean-to
peg out
pop-up tent
Primus stove
pup tent
ridge pole
sleeping bag
tent