Many people just don't seem to understand "stealth" camping. It amazes me that some of those with no understanding also own truck campers.
The concept is really simple. Stealth camping does not make your camper invisible. The idea is to have it look like it is merely parked. Residents often get concerned when a camper stops for the night. They do not want a pack of gypsies moving into the neighborhood. I consider it a courtesy to the neighbors to be as quiet and inconspicuous as possible.
There is often a concern about local ordinances and how they are interpreted. Resort and destination areas are often highly restricted and staying on the streets is not allowed. For the vast majority of the rest of the country, overnight parking is allowed, but "camping" may not be allowed. Often no one, including the police, knows how to interpret the ordinances. Making a nuisance of yourself is likely to result in a negative interpretation.
In the past I have checked with churches or business owners or even the police about staying overnight. If I ask about parking overnight, I typically get a positive and helpful response. If I ask about camping, the response is likely to be negative. I think the reason is because some people are just boobs. They pull into an area, open up slides, run a generator, play music and might even set up lawn chairs. I try to be stealthy even in areas like a Walmart parking lot where there are no concerns. I pull to the back of the lot out of the way of customers and I keep a low profile.
The parking issue also pertains to city or residential streets. I am careful not to take parking spots that would be in use by the local residents. Parking on the street next to a church or closed business works. Church or business lots might work, but I would first get approval.