Freedom camping area confusion

Hello! I booked a self contained camper van for two weeks around the South Island and I was really confused by the freedom camping rule. I understand most councils have bylaws, especially in urban areas like Queenstown and tekapo, saying you can’t stay even in SC campervans.

What about other areas then, can I just park anywhere that isn’t marked as prohibited on this map? https://www.doc.govt.nz/map/index.html or do I need to be at a designated campsite indicated on apps like campermate?

Thanks for any advice!