What's the general rule of thumb for where its OK to pull over and camp?
I'm planning on hauling the family(wife & 3 kids) out to Colorado for a week or two this summer/fall in the old D1. Yes, I'm a glutton for punishment.
I'd like to do a good amount of backcountry camping out of the truck.
Planning on hitting a lot of the more popular national parks/tourist destinations and link them with back roads, passes, trails.
A lot of these 4wd trails have great ending spots next to lakes. Is it cool to just set up camp there?
You have multiple agencies to work with. The largest being the USFS. Then the BLM, NPS and State Parks. BLM is typically less regulated, followed by USFS, NPS and State Parks are tied. You really need to do your home work for travel in USFS and BLM lands. Fines are steep! I will help you as much as possible:
First, There are Forests that are subdivided into Districts. Check with each District prior to traveling as each one has it's specific regulations and special orders. Yes, there are federal laws and regulations that cover all Districts, but the individual Districts will be more specific.
Secondly, Obtain a MVUM (Motor Vehicle Use Map) for each District and read it carefully. Stay only to the trails and roads identified on the map (Stay the Trail). This is VERY important! And follow local signage. These maps are free and can be found at District offices, local shops and they should even mail them to you in advance. Just call the District and talk with the front desk. You can also find downloadable versions on each Districts website. Even better yet is using an app called Avenza. Download the app and then search for the individual Districts MVUM. It's free too! And you'll be able to track your travels as well as drop waypoints for the interesting stuff!
Thirdly, Camping is generally managed and regulated closely the closer you are to Denver and the front range. It relaxes the further West you go. There are three types of camping sites. 1. Dispersed 2. Designated Dispersed 3. Campgrounds. Again, refer to local signage, district regulations and the MVUM. I believe most MVUMs state that you can't park your vehicle more than a vehicle and a half length off of the road/trail. Fines are very steep for disobeying this order. Some areas only allow you to park (even for camping) in designated areas (Designated Dispersed).
We have a huge problem lately (with the population explosion) with people thinking that they can go anywhere and do anything on our public lands. It is leading to many of our roads and trails to be closed. I'm glad that you are asking in advance and want to do the right thing.
Please let me know if I can answer any other questions and enjoy our beautiful State! It's a treasure trove for Land Rover owners!