I've traveled a few places in somewhat civilized areas and got by with following the simple practice of not pulling into shore until dusk and NEVER building a fire or using lights to give away my presence. I read the trip report that you linked to your post. It sounds like these guys traveled in a similar manner and did just fine. fore sure, planning ahead so that you can be certain of where you can and cannot camp is a good idea, but "things happen" and you may need to pull in some where.
Pull in late, Leave early! and safe paddling!
Touring Kayak Paddles
Deck Rigging Gear
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