I camp in a variety of sites. Some are actual campgrounds, some are improvised, Of the improvised, some are in plain sight and some require stealth. I only use stealth if necessary and as a last resort. A lot depends on the area I am in. I also accept hospitality if invited. I have stayed in church yards, town park picnic areas, and roadside picnic areas. You get a feel for what is okay in various parts of the country and in various size towns. You also get a feel for when/if to ask and who to ask.
I found that using Adventure Cycling routes and staying in their recommended sites gave me a feel for what did and did not work. Riding something like the Trans America is a great way to learn about what does and does not work.