In most places you just pull off of the road to park. If there is an existing two-track on public land it is OK to use it for access and then you can pull off of it to park. Much of the BLM or State lands will be fenced off by the renter but there is normally enough space between the road and the fence to park. Most people will want to stay in their trucks and access public lands by using the two-tracks, but it is just fine to pop over/under a fence and use your boots. Those leather gloves come in handy for fences (and some of the gates), and for scooting through the cactus for a shot.