In a few decades of occasional stealth camping, only been caught a few times. Once caught by Greek soldiers, once caught by Turkish soldiers. All OK after a little explaining and joking. Scariest ever was being "befriended" by odd hyper-religious fellow. I just left and hid again several miles away and very far from the road. In general, the rules of "settle in just after dark, stay far from the road, be quiet and respectful of the land and people, leave early" seem to have worked well.