I question how long and how many times you would really want to do stealth camping in the Bay area.
Others have pointed out that stealth camping in an urban area is not likely to work and you can expect a knock on the door at 2 am. Nonsense. We have "stealth" camped in many locations including the Bay area and have never, never been told to move. My wife actually checked in advance when we stayed in Mill Valley. Regulations permit overnight parking. There is a provision to identify abandoned vehicles. The vehicle must be moved at least once every 30 days. We actually stayed 29 days near the Mill Valley golf course while visiting relatives. On the 29th day, we got a sticker warning us that we needed to move. Of course, there is a "stealth" portion to urban boondocking. Overnight parking is allowed, but often there are additional regulations that prohibit "camping." The definition of camping is typically quite vague. You are not going to be able to set up a tent at the side of the road. I would avoid lawn chairs and BBQ grills. With minimal commonsense you should have no difficulty. A big consideration is the exact location you pick. It needs to be safe, well lit, and not annoying to the neighbors. There are a lot of great choices. We often park in front of a church. Except for Sunday morning, no one cares. Of course, everyone knows about Walmart parking lots. Just be sure to pick a supercenter that is open 24 hrs. When in doubt check with the manager. I only had to do that once. I pulled into the Walmart late in the evening and found signs prohibiting overnight parking. The manager told me that was required by local ordinance, but no one would care or check on us. We stayed without an issue.