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Where can I go in Missouri/Kansas for wilderness camping?

My friends and I love to go wilderness camping (no tents, no food, just a machete, a knife and a book of matches) but we cant really do this at most conventional parks. So we need to find a place where there are no fire pits, plug ins, RVs or bathrooms.

Ideally we want a heavily wooded area to hike into with some kind of water source nearby. Is there a place like this within 3 hours of the Kansas City area?

Thanks in advance,
Noah

you might want to check out the Jacks Fork and Current rivers down in Eminence Missouri. not sure how camping is, but a really cool place to go.

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