I sometimes stealth camp. The no camping regs are pretty much made to deter kids that rage around bonfires and leave their beer trash everywhere. Just sleeping in the back I haven't ever been bothered. You either tuck into somewhere nobody is going to go to, or you park in some obvious place it wouldn't be weird to see a car parked. In between is the no fly zone. Move around, don't stay in the same place multiple nights. I wouldn't recommend boozing if you're stealth camping, if you're asked by the law to move you're gonna be up pickle crick.
That said I usually just get a campsite at a state park or something nearby. The states I go to are pretty cheap, and it's nice to have the amenities. And sometimes I need a few mountain pops to get to sleep in the back of a truck lol.
These days most of my trips are 2-2.5 days max just due to family and job logistics. If I was going a week, I would take my mongo tent and set up a legit camp for sure. Used to do that, ah miss those days a bit. Spike camping and bivying, been there done that, got the tshirt, and decided it's for the birds. When I've done that it tends to turn more into a camping trip with some hunting. Bad food, bad sleep, body takes a beating. Just a pain in the butt.