. . . do a lot of urban stealth camping in South city, Daly Cith, San Francisco area.
Not that easy, according to prior threads that have addressed the subject. Do you see folks doing that now? In a Class C? If not, there might be a reason.
If you're going to live in a townhouse, you'll probably have to pay for RV storage somewhere. Not many townhouse communities allow RV or boat parking. Even a Class B gets a lot of resistance. Maybe you will find a way to make it work, but the powers that be don't make it easy in populous urban areas.