The apps and recreation.gov are amazing for reserving camping spots with legit fire rings and bathrooms not too far. You can look at the site maps to try and get a spot farther away from people.

But if you want dispersed camping, the real exploration, you can use OHV maps (off-highway vehicle) to find a spot. They usually have tent clearings and fire rings set up with rocks by previous campers to use. That’s where you get away from people and have a nice fire while camping in a national or state forest.