In my experience, one should plan on occasional middle-of-the-night knocks on the door when stealth-camping.
First, I make sure the person knocking is a cop, ranger, or other such authority figure. No uniform? I'm suspicious.
I call the officer "Sir". Why not? He calls me the same. Obnoxious jerks get hassled, polite gentlemen often get told "Well, you really shouldn't be here, so get up and go first thing in the morning, OK?"
My rig isn't junky-looking. Neither it nor I look like the vanguard of an invasion of Gypsies.
I don't have bumper stickers. I have some controversial opinions, but don't shout them to the world.
I go to bed with the camper ready to roll, not ready to make breakfast.
Later the better to stop, earlier the better to go.
Residential areas bad, commercial/industrial areas good. Few folks around at night, and less "territoriality".
Finally, stealth-camp as little as possible. It is much more relaxing to camp where allowed. But if you full-time, there will be times... I don't look at it as a fun game, but as something I have to do now and then.
Joe