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I have slept out in the desert plenty, almost always cowboy camping - mostly low desert and a little high desert. It's pretty comfy, gets cold as fuck sometimes. Don't listen to the other anon who said to sleep in a wash, the coyotes like to run the washes at night, unless you're doing some stealth camping in which case just check your weather and don't leave your food out. Either way, try to sleep where the sun is going to hit you early in the morning.
It's probably less dangerous in the 'desert' than most other types of /out/ these days, humans are the most dangerous thing out there really and you're a human too so..
really, hardly anyone goes to the open desert except boomers in rvs and people living in their vehicles, sometimes rich people on horses and some others on atvs if it's close enough to the city, unless it's something almost touristy like Mt Graham in Safford AZ or Rock Hound Park New Mexico, which are things people in local cities will go to and camp at, the desert is basically your oyster as a person who enoys /out/