We camp a lot.
BLM, National Forest dispersed camping. Some State parks. Never had a problem or anything that smelled like it might be a problem.
I leave low(er) value items out when I leave as more of a head fake than anything.
I'll say this though, despite the stigma KOA offer high value for what they cost (washers and driers, showers, dump stations,water and electric) and are very safe in my experience. If we have been dispersed camping for several days/weeks we'll use KOA as a break.Memberships are very inexpensive and get you a discount, also a National Park pass is we'll worth the money if you are going to be out much.