I just went up that way a few weeks ago from Ohio. We crisscrossed the mitten then crossed the bridge and camped at the “mouth of the Huron” in the Yoop. I tend to keep my dispersed camping to the National forests so I can’t speak too much about the rules outside of the NF, though I have heard about that mile thing. We read that you need this
Permit printed and filled out and it must be displayed after you depart. We didn’t know about it on our trip, and didn’t do it, and someone from MIDNR came thru one day at the mouth and parked about 75 feet from us and didn’t say a thing. Huron National Forest is the closest NF to the top of the lower peninsula. Sadly, we didn’t stay in Huron National Forest so I don’t have any recommendations. There is this map though that might be of use,
Michigan state land. We did end up finding a spot on our way up about an hour after crossing the bridge in Hiawatha NF. I can give coordinates. If I were to do it again, I’d print the permit out, fill it out, and explore some of the state forest lands. I would also definitely go stay at “the mouth of the Huron again”.