You brought up a very important point here.
Any of us that ride and camp share many of the same problems and places.
Your motto is also my motto.
I do the same and teach all my campers that simple rule to leave it better than when we got here, less foot prints and damage.
We take the truck out into the old logging roads and find some really nice pristine areas, you be hard pressed to say when we leave if we were ever there.
I found those places off the back of my bike by base camping and exploring all day and a tank of gas, just a blast.