We've never seen the need to be "stealthy" at all when on RV trips and merely one-time 10-hour overnighting on the outskirts of urban areas.
We just boldly - with the permission of the owners/managers if possible - overnight in a K-Mart parking lot, a church parking lot, a Walmart parking lot, etc. in our 24 foot Class C ... and it's pretty obvious what we're doing (we don't "spread-out", however). Even in the area we live just outside of (Silicon Valley, CA), we quite often see small and big (both "clean" and "junky") motorhomes and truck campers parked here and there along the sides of streets that sure look like they're not being stored in that spot. We automatically assume folks are in them single-overnighting or maybe even multi-overnighting a bit ... whether they have permission to be there or not we don't know.
I really don't see the big deal in this kind of "non-stealth" overnighting in an RV. Long term squatting in an RV in areas not designated, or designed, for that is a whole different issue.
P.S Jeff, if I ever see you trying to stealth camp in your rig I sure hope that I recognize you ... cuz I may come over and bother you with a whole lot of questions and conversation about your fantastic non-stealth camping adventures! ;)