I've lived in my van for about 550 days now and have spend, I'd guess, at least 200 nights in towns and cities. I've never had any real problems. I've had the cops come knock I think 4 times. For 3 of those, I was being lazy/daring compared to what I normally did (and didn't really care if the cops came to talk to me). The other one was a bit of a surprise but was no problem and the cop told me a place to go where the police wouldn't bother me (in fact, they did that in 3 out of the 4 interactions). I've also had an old Indian lady knocking on my van for a few minutes one morning. And I had one hoodlum kid open my side door that I somehow forgot to lock while sleeping in a crappy neighborhood(!). He was even more surprised than me, and when I told him to close the door he did and ran away.
I have a white cargo van with windows that I cover with blackout curtains. It blends in fairly well, but does have solar panels and a vent fan on top.
For over 200 nights, that's quite little, and as I said, no real trouble ever. So, I guess I'm saying that urban stealth camping is not a myth or legend, and that if you have a plain cargo van or stealthier, it's really easy. There is some extra daily work of driving to different spots (if you just try to park and stay right in one spot multiple days, you're going to have trouble)
I recently wrote
this blog post on how to van-dwell in cities.
Bob has already covered the basics in his book and blog posts. They are:
- Blend in
- Minimize the duration your van is parked in the spot you sleep (when you're ready for bed, drive to a spot and go to sleep immediately. Then when you wake up, move the van again immediately)
- Don't park in the few neighborhoods who's residents are most likely to call the police.