My wife and I just went out to Woodridge park on the west side of Clinton Lake (south of Lawrence KS). It was about a 4 mile fairly easy loop trail and there were campsites scattered throughout the trail. https://www.alltrails.com/parks/us/k...primitive-park
Elk River Trail is a place several friends have gone to recently. it's about a 7.5 mile out and back trail. There are some cool rock formations you have to navigate through. It's about 3hrs away from KC. https://www.hikingproject.com/trail/...lk-river-trail
Those are about the closest trails I've found to backpacking trails anywhere around Kansas City. Well, other than stealth camping
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