This is the way I did it.
20' Rpod 189. We did do a little boondocking but not much.
Spent 6 weeks 16 miles NW of Hot Springs Arkansas at the Ron Coleman quartz mine. They have a nice little RV park that was very quiet in Oct & Nov. 60 yards to the showers/laundry facility. Lots of pine and oak tree's. The far side of the little road that runs around it was fenced, undeveloped. Saw deer, turkeys close to the camper. Dog loved it, I had a corkscrew stake and a 25 foot retracting leash that let him reach 5 tree's without enough slack to get around or tangled on any of them. He spent days just nosing through 6 inches of dried oak leaves. Sleeping in the sun. Incredibly peaceful.
I sure wish this covid crap would go away so I can go back to it.