Purchase a DeLorme Atlas for the Rocky Mountain State you want to explore. They will give you an idea where major and secondary roads to travel are available, as well as some more remote roads. To get lost, but can turn around... sometimes.
These large scale maps, do not include most smaller graded BLM and Forest Service roads. You can purchase those maps from Forest Service offices scattered among many towns in Wyoming. Once you discover an area you want to travel more into remote locations, quadrangles are a bit overkill, but useful. Some may have not been updated for 40 years... many of those roads have been improved since the maps were printed.
Have the passenger track your travel as you enter... to know where to... exit later. Mark the GPS location and Elevation where you find a camping spot. Make comments on the blank borders of the Atlas's page.
Wyoming has many access routes into the mountains... and how to get out. This also applies to Utah, Idaho, Montana, New Mexico where we Off the Grid the most often.
Can you get lost? Not using the modern GPS units that Garmin Overlander as your Guide, to enter and to exit with minimal issues. Best purchase we made for Boondocking!
You may want to add their experiences with modern satellite systems to explore the back country, where camping spots are fantastic.
Even locate Service Stations and distances as you travel.
I include some photographs of Ahhhhhhhh... campsites we mark onto our Atlas and can return whenever we happen to be in the area. This Season is over due to Snow being a major road closer at elevation.
Plan your trip this Winter and make it a Vacation... taking photographs of Ahhhhhhhh! This is not for everyone. If not sure... ask your Dog. They are smart and know where to run off the leash. Humans... don't.