22 feet is an important number. You don't need to be stealthy if you are legal. We just spent the entire day at Hampton Beach, one of the busiest summer spots in New England, in a very noticed Pleasure Way Pursuit. We parked 20 feet from the sand, closer than the folks who rented the beachfront rooms across the street, right in the heart of the action. We were there for 16 hours ($2 Hr.) Two parking enforcement officers confirmed that we were legal and told us that they throw RVs just inches longer than us out of there every day (We were right on the lines).
The point is we have done this repeatedly with great success and it is the length that makes it possible. A 24' Sprinter would have been ticketed or towed.
Our advice is buy which ever one you like but remember that number. RVing changes as soon as you exceed it.