In a lot of my just-off-the-road camping, I haven't tried real hard to be stealthy. At times riding with a bright orange tent. Working to obey the "no trespassing" signs and working to leave no trace. In that context, most of the time it is perfectly fine, though I've had a few run ins:

- Camping next to some oil wells in the West Siberian Plain, I was awakened by some sentries, complete with guns coming to check me out. I was able to communicate enough Russian to let them know I was a tourist cycling through and they said it was fine to sleep until morning.
- Ducked behind a row of trees near the Volga River. Discovered too late that a nearby village looked out on my tent. Local youths thought it was a fun game to see if they could sneak up on me - so let them get fairly close before asking them to give me some peace.
- Camped a little too close to nice set of ponds in Eastern Siberia. Some locals who had too much to drink came by and started asking questions of whether I was alone, if I had money, etc that set off my warning signs. Once one of them went to grab a pannier - stood up, put my hand on his chest and firmly said in loud English, "Don't Touch". Was a tense set of minutes, but eventually they left me alone.
- Skipped past a youth hostel since it was too hot. Ended up at a campground but w/o a tent. Asked for a site way on edge of the campground, without realizing it was next to mosquito infested swamp. Was awake most the night being bitten by mosquitos in my thin sleep sack. Finally got up at 4am and then spent later parts of the day sleeping under a pier.
- Camped on top of a dead mostly composed deer, but didn't realize it until morning
etc...