It's possible to park something not-stealthy and not get bothered for a night or 2 -- or possibly not at all. The need to burn gas to find such a spot, and lack of local knowledge of the areas you are going, make finding these unicorn spots unrealistic to plan for. Of all the vehicles I've boondocked, the stealthy van has been the easiest to find parking and allowed me to avoid the obvious spots that the obvious rigs HAVE to park at for lack of knowing the area (flock mentality, tired, just want to park, too dark to drive all over looking for better). These are the places cops like to harrass, tweakers like to rob, and residents like to complain about. The stealth van avoids all of the headache. You can legally park everywhere people are allowed to park, and you can get away with some spots you might not be allowed to park because it's not obvious you are camping if your vehicle looks like it could easily be there for work.