From the app or the web, you will want to Search/Explore the Map. From there, you can open the 'Maps' legend using the button in the bottom right corner to add layers of color to the map that represent different types of boundaries including BLM (Bureau of Land Management) and USFS (United States Forest Service).

You will want to refer to the Dispersed Camping Guidelines for the specific public lands area you're searching, but the map layers will give you a sense of where these public lands begin so you can know you're securely on public lands when you find that awesome dispersed spot. You can also find dispersed sites that other campers have already added to the database and find any relevant rules as applicable from those campground listing pages.