I (we) have done the "side of the road" thing for years.
My SO likes to do the stealth thing.Ya know,Tent-sleepbag etc..and hide from drunks,cops and other ADV riders
On the other hand when solo I'll sleep just about anywhere.
Picnic tables in rest areas,behind gas stations,motel parking lots,truck stops...etc.,etc.
Just pull the tent fly over me..
Covered drive thru's when its raining.
This spring I had to put the bike cover on and sleep "in the saddle" with my head on the tankbag cause I was to tired to go any farther and it was pouring.