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Boondock Camping

Are there any public lands around SC/NC/GA that you have boondock camped at? (or are at least allowed, their web sites are very unspecific) Any tips or pointers?

I need to get the young 'uns outside more. Both of my boys (Aged 9 and 2) like to ride trails in the woods. I am hoping to get them acclimated to boondock camping by slowly graduating them from just campfire food made outside, then to camping in the yard or woods on my property to one night trips nearby. Ultimately, by the time the eldest is a teenager, my goal is to have them able to handle my month-long trip out west. (The dream off road trip I never took.)