don't drive so far and so late that you can't see where you're camping (unless you know in advance and have reservations).

Camped in the dark - - woke up to a sprinkler system installed in the (day-use) picnic grounds.

Camped in the dark - - woke up to kids walking to school which was 50 yards away.

Camped in the dark - - woke up at 3 AM to the sound of a train coming straight at us - we were under a trestle.

Camped in the dark - - I won't say what we woke up to, but we were on the edge of a city dump.