Both.
It depends on what you plan to do in the area. If you’re visiting a national or state park, it’s often more convenient to be in the park and closer to trails/attractions. In both 2020 and 2021, hiking trails have been super crowded, making it imperative to arrive early, meaning at dawn. Being inside the park means less driving both before and after your hike.
Many boondocking locations this year will packed during prime vacation months, due to the advent of apps and websites identifying their locations. They can be just as bad as campgrounds - noisy, trash everywhere, and poorly behaved campers.
I also like to know that in the most popular areas, I have a “home” at the end of a long travel day, especially when I’m hauling a trailer. A real shower isn’t a bad thing, either!
So I guess you need to evaluate your needs and preferences and do what works best for you!