Stealth camping is too stressful. It's the chance of the fine or the chance of being woken up during your long over due sleep that makes it not worth it.
Permission and a good rest is much better. Not to mention the unrelenting thoughts in getting a fine and then having to find another place while still half asleep.
I'll go get permission. Besides if you travel under starlight, not freeway light, your chances of truly free camping are much greater.:)
This is sort of like the old discussion that you are causing an unsafe condition because your doing the speed limit. Everyone has to go around since your not speeding like most everyone else.
Surround yourself with good deeds, your future will be much brighter.