Nothing new to add, just that I still use national forest or BLM roads to camp on. Never had a problem. I definitely practice "leave no trace" camping and I have never made an open fire.
Back in the day when I spent a lot of time on the road (private investigator), I use to park my truck in Motel 6 parking lots and sleep in the back. That way I could pocket the per diem. Always got a good nights sleep and never bothered. When I couldn't stand myself anymore, I'd take a bath in the swimming pool (Campsuds, biodegradable
). Don't forget to fill up your ice chest from their ice machine on the way out.