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RV boondocking is camping in your Recreatinal Vehicle in an area of limited or no facilities. You can, in many areas of the west, just drive out into the desert, and stay free for up to two weeks in one place. This is true of most BLM (Bureau Of Land Management) and National Forest Lands. How far you need to move after your two weeks is open to interpretation. Certainly it is no more than a hundred yards.
Because of the growing popularity of RV boondocking, the BLM has begun to establish areas for longer term stays, particularly in Arizona. The permit fee is up to $140 now, but this allows you to stay up to six months, and there are pump stations, dumpsters and water available. That's stil a lot cheaper than even paying property taxes for a lot to park on. For more information on boondocking on BLM lands in Arizona, visit the BLM's Arizona Website.
If you ask around when you are in the desert southwest, you'll find there are whole RV communities that form every winter. Temporary towns spring up, such as "Slab City" in California, complete with bookstores, grocery vendors, and other businesses run by RVers. When the hot weather returns, these boondock communities disappear, only to reappear the following winter.
One of the largest gatherings of RV boondockers is in Quartzite, Arizona, every winter. It is estimated that up to several hundred thousand people spend at least part of the year boondocking here. Quartzite is near the California border, on Interstate 10, and is only 20 miles from the Colorado River. It is surrounded by BLM lands, and is famous for its gem shows and swap meets, as well as the multiplying of its population each winter. For more information, you can use the link here to visit the Quartzite Chamber of Commerce Website.
There are many "hidden" places to park your RV for a week or a month in the desert southwest. Some are free, while others are just inexpensive. The Hot Well Dunes Recreation Area, for example, north of Bowie, Arizona, costs $3 per night, but has nice hotsprings, and plenty of wildlife. For $30, you can get an annual permit, but you are still limited to two weeks during each month (permits are sold at the BLM office in Safford). Outside the fenced area RV boondocking is free, but then you don't get the hotsprings and shaded picnic tables.
Related pages: Conversion Van Camping and RV Vacations.