I've wild(free)camped many times and never had a moments trouble with animals or people. May have been seen, but nobody seemed to care. I consider 'stealth' to be a refined version of wild camping, where extra effort is made to be totally hidden and undetectable. A combo of common sense, art, and science.

I rarely go to the extra trouble required to truly stealth camp. Don't consider behind a rural church, for instance, as 'stealthing.'

The good is it's free and generally available, the bad is it's more stressful, with none of the facilities offered by public campgrounds, plus the nagging fear of detection. The ugly.....I've never experienced ugly while wild camping.