Hi Herbenny - as a newbie to wild camping, and a lone female with dog, I can well understand how you are feeling! My first night out on my own, I was hearing all sorts of things, kept on peering through curtains, etc.
I decided before I went for my first night out, that I would sleep over fairly near to habitation and with three or four 'stops' available (planned them via google earth) should I need to move on. I ALWAYS keep my van keys in the same place, as I don't like leaving them in the ignition, because I use internal curtains to shut off the cab area from the habitation, which means the keys would be on show to anyone taking an interest. I also make sure before I go to bed at night, that
everything is in it's place and put away, so all I have to do is grab the keys (kept on the shelf above the habitation door) pull my cab curtains back and drive off.
Sleep was a little intermittent (I had chosen a parking area fairly close to a restuarant, which, it turns out, was a meeting place for mmmmm men of a different persuasion may I say) but no one bothered me, and I had a good nights sleep in the end. The dog didn't stir either, which gave me a lot of piece of mind. I moved on fairly early in the morning, and had breakfast elsewhere, but with the first night away on my own under my belt, I now feel that the world is my oyster.
I've been wilding on and off most weeks since about the end of April, so not a long time. Only once in that time, parked up in the middle of town, outside my son's house, have I been disturbed. There was a knock on the door at about 11.30 pm, Storm barked and there was no further sound. I've moved on once, as having parked up and watched the comings and goings for a while while having my meal, decided that I didn't like the feel and moved to another spot, about a 1/4 mile away.
I think if you've got an alternative site or two in mind when you initially park up, you will feel happier knowing you've somewhere to move to if you don't feel comfortable. I've found the POI's offered on here excellent - well the one's I've used so far.
Go and enjoy, it's a great feeling once you start. You've got your dog, you'll find you've got good instincts (just trust your gut feel, don't imagine things) so just go for it, come back here and let us know how you've got on! :wave: