While I agree proper planning is important ( I try to recce new locations beforehand if possible) you are very lucky never to have been caught out in 52 years. We were going to camp at Curracorang in the Royal National Park where I had my second ever camp in 1973 but the coastal scrub is not the best for hanging a hammock off of. I do now tend to select locations based on available hanging options but if I were to try and do the Simpson Desert crossing I would have to hang between vehicles off the roof racks or bull bars. There are some places in the world where you have no choice but to go to ground.
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