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I use just plain water and a large ziplock bag as a human-powered "agitator."
You certainly could use baking soda, but you'd need to carry quite a bit more of it than you'd need as a dentifrice/deodorant/paste for bug bites (the most common uses). Also, remember that the stuff tastes salty. Pour out your wash water on bare ground (so the local deer, mountain goats, or other wildlife won't churn up vegetation trying to get the salt) 200 feet from any water sources.
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