Don't want to camp in a developed campground? There are many places on the Pike-San Isabel National Forests & Cimarron and Comanche National Grasslands where you can pitch a tent and practice low impact camping techniques. Dispersed camping is primitive, undevleoped, frontcountry "car camping".
Remember: when dispersed camping, no toilets, trash service, or potable water, are available. Store all food and trash securely, and pack out what you pack in. Practice Leave No Trace.