Boondockers welcome was fun. I got to meet the locals. They usually were interested in their guest and hearing about the travels and adventures. I got a bucket full of Cohogs at the last one in Mass. Another showed me his tunnels in the back yard as it was all limestone, and we at mushrooms from the yard (cooked, not psychotic). A few fed me dinner as a welcome guest. Some I never saw and I only had one bad visit in WI. Guy was just a jerk, not so much to me but his stories of his life were all how he delt with people and I just did not enjoy that stay.
The popular tourist areas are usually booked, so book early, but the non tourist host almost always have room.
I usually stayed just for a safe place to park a few days, get water, maybe power and able to leave the rig and wander off. Sure beats parking lots