Advice for wild camping

Me and my wife are trying to do some wild camping out in Colorado in a few months with our dogs but gov websites and Google seem to contradict eachother and im trying to get advice from people who have done it out there. Im specifically looking at doing it at the arapaho national forest but im not sure on what places im allowed to go and what places need a permit. Google says that it allows wild camping in certain parts without a wilderness permit, but the gov website only lists developed campgrounds that we need reservations for and a wilderness permit. To anyone who has been there and have done it any advice would be greatly appreciated.