I stealth camped probably 75% of the time when I rode from Oregon to Connecticut. I never had any problems doing so. Once and a while I would camp in a city park or something, and thats where I had the most problems. Sprinklers, early morning dog walkers (I literally had a dog jump into the tent with me) and general town activities made it more difficult.

If you're out in the middle of nowhere and can get some place that isn't visible from the road, there is almost no chance of ever being bothered by anyone or anything.