This is a boondocking forum and the OP is asking about Stealth camping. What??? is up with all the Campgrounds and RV sites?
While it is important to know the area and crime situation and I am not familiar with the area. But you are in a Class B, which in my opinion is the perfect stealth camper!
Go take care of things, like to the mall, dinner and such and when you are ready to turn in for the night, (not sitting reading or watching TV) find a curb to park next to. Peferably a location that is not in front of a home or business. End of city blocks in residential areas is a good place to camp.
If you are in an area of questionable security, find a curb near a 24 hour business with lighting and traffic going by.
Get up in the morning and drive away. Straighten your hair and fold your bedding down the road, at a grocery store or other parking lot.
Have fun. There are just so many possibilities to Stealth Camp, if you just go out and try it!
b