I started camping solo the year after my husband died, ie. 1971. Or shall we say, I discovered how much 'fun' it can be to find someone who has the same days off.
About 15 years later, I finally had 2 dogs of the same kind, ie. retrievers who like trails and water. & all of a sudden I saw how much more 'safe' I would be with 2 mid sized dogs. Yes, I'd call 70lbs. 30+kg as mid sized.
It is a long time since I worried about a reservation for 'safety'. If I head to a campground, I can tell from the attendant if it is my kind of place or too much of a 'party' place. & yes, I have one National Park in Canada on my 'too many late nighters' list.
Do I free camp. Yep, and I expect when I travel to Oz, it will be doing more free camping than cg camping. It's little places that interest me. or historical sections of cities.
& I'm sure you and add or subtract a bit, 40 years a widow is correct.
Go do, step by step, you will find out where you are comfy.