I used to read a blog by an "older gentleman" with a small class c (Tioga George) who would pretty much camp anywhere he wanted to. He'd stop on the side of the road in a subdivision at 10 or 11 pm, sleep, get up at 5, walk his dog and make breakfast and motor on by 6, there and gone before anyone even noticed him.
He would pause in various legal places to freely dump tanks and refill water when needed, spend his days parked in parks or beaches. He had solar and a gennie, and was pretty much self sufficient. A hoot to read too.