1: Cousin Eddie dumping. Don't try it in TX. A person will be lucky if they get off with a $3200 fine, and with all the anti-RV crowd, someone will be looking in the direction of any coach around, hoping to catch someone pulling the valves with their iPhone so they can get the local county to ban RV parking.
2: Tote tank and macerator pump. I'm very familiar with this #2 option. Get the largest size tote tank you can, use the macerator pump to dump the stuff up into the tank in your pickup truck bed. Then at a dump station, use a small hose, let gravity do the work for you. One tote tank won't hold both the black and grey water, but it will at least hold all the black and some grey, so it might take two trips.
3: Macerator pump and septic tank. Get a grey water attachment kit, and a grey water hose (something that is well marked, so it never gets use for anything but pumping poop), and that works wonders.
4: Camp a night at an RV park every few days. This gives you the ability to not just dump your tanks at your leisure, but flush them out, let the batteries charge on shore power, and do other RV maintaining which is hard to do when boondocking.
5: Honey wagon service. Either they suck directly out of your output lines, or you have a 200 gallon holding tank that you empty your stuff into, and they pump that out. For me, honey wagon + dump tank + pumpout weekly runs me about $200 a month, which is more than reasonable considering where my RV is parked.