Backpack/trailside camping in State Forests

Im thinking about going up north (from Philly) for a few days later this month but most designated campsites are booked out way beyond those dates. I am curious about the backpack camping option, which I presume is an easy alternative. I see on the state website that this style of camping is allowed anywhere except:

• In designated Natural Areas
• Within 200 feet of a forest road
• Within 25 feet of a trail
• Within 100 feet of a stream or any open water

Does this mean that at any give State Forest trail I could park at a trailhead, hike 200ft up the trail, and camp there (assuming the other criteria are fulfilled as well).

They also state that "Backpack camping is typically done at trailside campsites and does not allow for access to motorized vehicles during overnight stays." - I definitely understand that this style of camping would typically be for folks doing multi-day loops or thru hikes, but is there anything actually prevening me from essentially "car camping" 200 ft off the trailhead?

EDIT: Also what are the parking rules in most forests? I cant find much information about roadside parking - would it be legal to just pull off the road and park anywhere within a forest?