Incognito overnighting. Says it all. If you don't understand it, ask the local LEO the best way to go about it, while offending nobody's senses. Stay there, for the night, with owner's approval.
I should note that public streets are just that, public. Your registration fees, at least in CA, and sales taxes and road taxes on fuel pay for their upkeep and maintenance. But they are for driving on, parking on them is one of those gray areas best avoided.
Overall, to me, the term "Stealth Camping" has a feel to it like you are trying to get something of value, for nothing, no fee at all. That right there, is symptomatic and problematic at the same time... nothing is free, you gotta pay to play, to park, probably you should pay also to overnight, since the land you are on has some sort of value, there generally should be a usage fee for benefiting using that land for any length of time.
If we eliminated 50% of the population on this planet, would property values drop in half also? Something to think about, as this planet gets over populated.