When I toured in the west I could pretty much count on no rain so I only carried a poncho for a ground cloth and found shelter if there was rain. Using small panniers and only one set helps. After my first bike trip where I had to relocate because me and my cook fire(dummy learning experience) made me not so stealthy I preferred to make picnic dinners and confine cooking to designated campsites where sounds and smells of camping are expected. If there's no rain and no bugs not putting up a tent keeps ones visibility low.