I live in madison!! About an hour South of here in Hanceville a new ORV park just opened up. It's a weekend park, with wheeling on saturdays. It's got varying difficulty from the pleasure riding stock 4x4 to the extreme buggie types.
It's got a mud pit, and 4,000 acres of reserved land for the park, with over a 100 miles of trails to ride.
Other than that, there is a lot of private land. Living in the foothills of the Appalachians we have some interesting wheeling. My suggestion, if your looking to wheel and gonna be in the Northen Alabama area, check out CAOS 4x4, and Rocket City rock Crawlers. RCRC is located in huntsville, and has a lot of knowledgeable members.
There is a trail south-east of birmingham, but that's a long drive, and would be a weekend camping trip. The trail in Hanceville has primitive camping sites, night ride on saturday, day ride on I think friday AND saturday, and camping...i have no clue
There is also fishing for those who like to do that in the evenings to unwind after a long day of wheeling ^.^
Hope this helps
-Cory