Small Aircraft; High Wing; 1 Eng; Retractable Gear
Flight Crew Private
Flight Crew Last 90 Days 25; Flight Crew Total 265; Flight Crew Type 15
Situational Awareness
Airspace Violation All Types; Deviation / Discrepancy - Procedural FAR; Deviation / Discrepancy - Procedural Published Material / Policy
Flight Crew Exited Penetrated Airspace
Procedure; Weather; Environment - Non Weather Related; Human Factors
I planned a long cross country flight from State Y to State Z with the intention of flying just east of restricted airspace R-XXXX; near City X; State X; then toward the ZZZ VOR; near City Y; before turning north to fly west of ZZZ1.  Cloud cover was forming low near City Z; so I climbed to 8;500 for smooth air and very clear flying.  Unfortunately; I began to track to the ZZZ VOR too early and overflew the northwest corner of the restricted airspace.  I should have paid closer attention to my GPS to ensure I was well clear to the east of the restricted area before tracking the VOR.  Another contributing factor was slightly changing my route during the flight since I knew I wouldn't see ZZZ2 due to the clouds below.  I truly didn't realize I had made this mistake until I landed in State Y and was directed to call ZZZ Control.  Another contributing factor; and a mistake I will not make again; was my reluctance to call for flight following due to perceived reduced personnel at ATC facilities due to the COVID crisis.
Pilot reported flying into a restricted area and attributed it to weather and not receiving ATC flight following.