For a stealth stay, probably nothing beats a hospital parking lot in a city. Sit and watch TV in the ICU or operating waiting room, use the cafeteria, let security see you in the lobby and catch the mane of a patient, you can do that by talking to other visitors and you'll hear all about the problems. Going in and out several times a week can justify your stay, many hospitals have areas to park and have electrical hookups, it's all about who you know and who you know of. ICU patients usually don't see casual friends, just family, they may not know who's there or know you there is seldom any verification of who you might be there to see or find about or be there to support any family member.
Auto service centers are good, you're just there to get a repair, the authorities don't know who customers are and won't ask. Sopping centers have service entrances at the rear, no one is at the Sears Catalog Store after 10 pm and a truck parked near a loading dock isn't that alarming. Just don't pull out the BBQ.
If you look and act like you're suppose to be someplace, people won't question you and if they do, have an answer for them, but no, I'm not camping. Be invisible by being in plain sight. I caught a few hours of sleep at a police station parking lot, just don't get out, that's the last place anyone would go and it's easier to say I came here to be safe at a public place to rest a couple hours before getting back on the road, but no one ever asked.
My urban boondocking is for a few hours, I'm not setting up camp.
Learn the art of "pretexting" just as a private investigator will do, watch some old Rockford Files shows, he had a reason to be wherever he was.
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