If it is legal and if it is safe, then why the need to be stealthy?
If it isn't legal or if it isn't safe, then why overnight there at all?
When someone is trying to appear as something that they are not, do they really think that shouldn't raise suspicion?
I've overnighted at Walmart - after going in and asking if it is OK.
Do stealth campers go up to a homeowner or a downtown business or local police and ask if it is OK for them to overnight outside their house/business? If yes, and they get the OK, then no problem. But I doubt that they do, because they are trying to be "stealthy."
If I am being self-righteous or chest thumping in my thinking then so be it.