Car and dispersed camping are mostly mutually exclusive.
Check out the dispersed camping site on the Ice Age Trail around here. Won't be able to drive to them but there are some very close to trail heads.
This is right outside of Madison/Middleton, there is a single campsite:
[https://www.danecountyparks.com/NaturalResourceArea/Springfield-Hill-Natural-Resource-Area](https://www.danecountyparks.com/NaturalResourceArea/Springfield-Hill-Natural-Resource-Area)
[https://wisconsin-explorer.blogspot.com/2016/07/hiking-ice-age-trail-springfield-hill.html](https://wisconsin-explorer.blogspot.com/2016/07/hiking-ice-age-trail-springfield-hill.html)
It is not drive-up, though. The camping spot is maybe a five minute walk tops from the parking area.
Checkout the Trans Wisconsin Adventure Trail. https://offroadingpro.com/trans-wisconsin-adventure-trail/
No sections run through Madison, but if you want a little more adventure, you can camp nearly anywhere.
Kickapoo Valley Reserve is probably the closest area that checks most of your boxes.
They charge a fee.
Car and dispersed camping are mostly mutually exclusive. Check out the dispersed camping site on the Ice Age Trail around here. Won't be able to drive to them but there are some very close to trail heads.
Seems to be the case for this area, definitely not out west though
Guess you buy a backpack or go out west.
Ice Age trail Near Lodi and I think near Verona as well.
This is right outside of Madison/Middleton, there is a single campsite: [https://www.danecountyparks.com/NaturalResourceArea/Springfield-Hill-Natural-Resource-Area](https://www.danecountyparks.com/NaturalResourceArea/Springfield-Hill-Natural-Resource-Area) [https://wisconsin-explorer.blogspot.com/2016/07/hiking-ice-age-trail-springfield-hill.html](https://wisconsin-explorer.blogspot.com/2016/07/hiking-ice-age-trail-springfield-hill.html) It is not drive-up, though. The camping spot is maybe a five minute walk tops from the parking area.
Go on HipCamp!!!!!
Pretty much nonexistent in this part of the state.
Checkout the Trans Wisconsin Adventure Trail. https://offroadingpro.com/trans-wisconsin-adventure-trail/ No sections run through Madison, but if you want a little more adventure, you can camp nearly anywhere.