Is it Legal To Camp in a Public Forest?

There's so many nice camping spots along the trail. But is it legal to actually camp there? Technically, no, the park closes at sun set every night, and it is a violation to be there after that. Of course, you could hike or bike in without having to park your car in the parking lot. Then hike to a secluded area of the park and set up camp. It's unlikely anyone would catch you, especially if you only did it for one night, would be an exhilarating experience. Quite intents. Still, I wouldn't recommend it, there's far better ways to go camping, like an actual campground, which aren't even that expensive. Heck, even some woods way out in the middle of nowhere with no houses around would be better.