You can't be very stealthy in a parking lot...camp on residential streets.
Just don't run any interior lights, and of course don't put the top up.
I've done this many times, in places I know and places I'm a complete
stranger.
I think there are enough Westys around so nobody really notices, unless you
do something to attract attention.

> morning, the parking lot was full.  So, my comment on stealth camping is
> that I am quite sure that my westy with curtains pulled is much more
> suspicious looking then this astro with tint.  If you look at the astro,
> you can see inside if you look, but who's going to look -- its an
> innocent looking van.