Stealth camping involves blending in - that means not raising the tent.
If you ask a business to let you camp - there's a big difference between asking them to "camp out" vs. asking them if you can "catch a few hours of sleep". They may not be too keen on the former and more agreeable to the latter.
If you are in a public forest, call the local rangers and ask where you can camp or go to their website and try to find the rules. You should be able to figure this out within about 20 minutes or less for just about anywhere in the USA and Canada.
I know everyone is for equality, but the reality is that if you boondock in a place you are not supposed to camp, and a ranger or cop comes along then your appearance and demeanor will matter. If you are sober, nicely dressed, act with respect, and are driving a decent vehicle you will get much less of a hassle than if you are drunk, dirty and driving an old beat up rig. Right or wrong, that's the way the world works.