Of course, separate black water and gray water tanks are exactly what a motor home uses. To me, gray water is no different than running a hose at the side of my house and, using a bar of handy soap, washing off a lot of the mud before I enter the house. The gray water (dirty, soapy water) simply runs on the ground.
My current motor home, a well-used 1988 Pace Arrow, is now serving as my construction "trailer"/occasional "motel" on my Okeechobee property. I keep the valve on my black water tank (from the toilet) firmly closed, and when that tank eventually fills, I'll drive to the nearby KOA and use their dumping facilities. In the meantime, however, the valve on my gray water tank (shower, sinks) is open, and the gray water is running onto the ground. I should add that I do little cooking in the motor home, so there is no food waste going down the drain -- just soapy water (and a little toothpaste, well diluted).
I first learned this trick with my first motor home, a 1972 Winnebago, which had no gray tank. There was a black water tank for storage, and a cap that could be removed to allow the gray water to run on the ground. The cap had a hose thread on it so the gray water could be diverted some distance from the coach. To use the sinks and shower, one had two choices -- be hooked up to sewage at an RV park, or let it run on the ground.
I believe it's not a state law, but set county by county, but many areas in Florida allow drainage of gray water into a drywell. When I was constructing custom outdoor patio kitchens, we often had customers who wanted a bar sink, but had no hookups. We would run a cold water line from one of their outdoor taps, and run the drain down into a 5 gallon plastic pail buried in the ground and filled with small rocks. We cut a lot of holes in the borrom and lower sides of the pail, and put a lid on it before burying it to keep the dirt out. Years later, no problems were reported to us. (If the customer wanted hot water, we installed a small, local hotshot heater). The 5 gallon pail was enough for a small bar sink, lightly used; I would use a 55 gallon drum for a laundry. The primary reason for the drywell is to keep the water from making mud where you don't want it.
Oh, in answer to a question above, I suppose the soapy water would be OK for vegetables; we eat the herbs and are still here. /forums/images/graemlins/cool.gif