I would suggest talking to the local chapters in the area where you are going. If there is not a chapter then talk to the surface management agency. If in a national forest it would be the national forest office. Most areas will allow dispersed camping on both BLM and National Forest lands. The tipi may depend on where they consider it the same as a tent structure or not. Dispersed camping can be affected by fire concerns so use may hinge on fire status. Many use regulations change when a category or level three fire restrictions go into effect. If the area you are going to has a campground or authorized recreational site at it or very close by it may be of concern also. This information is not specific to Colorado and is different as to area orders. Fire level orders are very specific to areas but should have current explanations and conditions on surface management web sites, followup calls to management agency is a good idea if in doubt.