Yes, it basically comes down to appearances and how you conduct yourself.
The problem is the "squatters". Tatty, dirty RV and they stay for several days, or weeks or months if they can get away with it. Of course these types want to stay in the very best places, or neighborhoods. Problem is, for them anyways, is that these homeowners are usually people of means that can fight them with police enforcement, new laws, etc.
So my advice, if you want to stealth - following the advice of several bloggers I read:
Keep a neat RV. Give it a wash now and then and fix anything that is falling off.
Keep a low profile. Keep your noise down. Don't be grilling outside, setting up chairs, hanging your laundry, etc.
Blackout curtains. Keep these behind the drivers section so it looks like you are just parked.
One night only in one spot.
Don't park in front of someone's million dollar mansion.
Park in a moderately busy area - a section with apartment buildings works great as no one really cares or will notice you.
Never park in the best spots. Park in back, or the side, out of the way.
Park in business districts on the weekend (when no business is going on), park in tourist spots during the week (when tourists are at work).
Go against the "seasons". Don't go to the beach during prime tourist season.
Most small towns don't care what you do as long as you're friendly, don't stay too long, and spend some money.
If you are wanting to squat in one place for a long while and live on the cheap, then BLM land is the way to go.
There are many others, but mostly keep a low profile, don't make yourself a nuisance, be nice and maybe spend some money in the local shops and restaurants, and you should be welcome most anywhere.