It depends on where you are and what you are trying to "camp" in.
Resort areas, and places popular with the urban "homeless" are difficult no matter what your skills.
Something that looks like a RV or mobile home makes stealth camping difficult. An unmarked commercial van is a lot easier. Signage that makes it look like a local business helps, but not if you move around; HVAC company from Pennsylvania will raise questions in small town Nebraska, so better to be a blank van.
If you want to fake it in a passenger van, you need to be blank, or a church. Best cover the windows in either case, when you are sleeping in it.
Old conversion vans work pretty well too, a lot of them are used as daily drivers and are parked on the street. Having local plates helps.