Since 2004, we've had two Lance 1121's , white with some graphics.
We had urban boondocked in many and varied locations. Large and small parking lots, side streets, industrial zones, parks, medical facilities, on and on. We have never been bothered or shooed.
When we stop, I put up the satellite, out the small slide-out,
we have never towed anything, but often had a portabote on the hip and always have rather large front and rear racks and porches attached. We keep the day/nite shades closed and keep to ourselves as much as possible.
We never stay in Rest Stops, here in the East, we believe, these spots have been a potential source of troubles. Out West particularly the North West, some of the Rest Stops had dumps and water along with RV pads, which we have utilized.
We have developed a "ZEN" technique that involves thinking ahead of arrival of a suitable, comfortable, safe location, and it has almost always worked well. No sweat, no strain, no blame.
We remember," It is often better to beg forgiveness, than to seek permission." If you mean no harm, offer no threat, and are aware of the dangerous areas in many urban areas, you will be fine, has been our experience. No one has ever confronted us or demanded we leave.
I do think having something towed behind would change the perspective, unfortunately.