Good pizza is worth a ride!
From what I've read, a lot of people just pull over and camp... just not in a neighborhood or someone's front yard, of course!
So long as you're away from houses, and not far from the road, people rarely care. This is all second-hand, though!
Of course, there are campgrounds and such if you are running a "planned" trip.
There's even a thread somewhere here where a member (and a group) are planning a "stealth" hang in a park IN A PARK IN BROOKLYN!
Can't get much less worried than that!