In the touring section, many people said that they camped at city parks or church yards.
Is it legal? Is it safe? You will not be arrested, as you camp in a public space?
Or is it illegal, but police turns a blind eye? Or?

To me this option is better than finding a campground, as you do not have to detour, and in many small cities you will not find cheap motels.

I traveled to many small cities (by car though), and I did not recall seeing a tent in any park.
Any opinion, or personal experience will be appreciated.
thank you.