Whereas it's harder to do in the Rust Belt, Stealth Camping has worked well for us. We just like a wide mix of Bohemian Stealth Camping, even in big cities; Federal/State/County campgrounds with a low fee, and staying at posh Hotels every week or so.
The trick is to have a completely self-contained vehicle that doesn't look like it's camping, but just parked (see below in a regular parking spot). Our 20' long truck camper has worked very well here.
Some over on the TC forum have made it a lifestyle, camping for years and thousands of nights. Stealth camping is an art form and not for the timid. We've never been awakened and asked to move. It's all in the spot you pick, sometimes in plain sight.