Hey Jojo,
Well, first off, our current camper isn't much bigger than a big car. That's what I like so much about the set up: Even though it is a comparably small camper, it does still have all of the comforts of a big RV (excluding a toilet, but there used to be one, as far as I know - and of course we could just get a small camper toilet). That's mainly due to the fact that you can fold the bed away to the ceiling with only one arm movement. We were really lucky with this van!
When it comes to stealth: Yes, it's not AS easy to stay under cover. In many places we realised it's not even necessary. We've become far more cheeky, living in the van openly. Depending on the city of course.
Besides that, during day time people can hardly see through the windows (unless they come really close) and at night we just put down the blinds, so no light from the inside, makes it's way to the outside. People would simply not know whether or not somebody is sleeping inside.
I'm more concerned about people getting the idea of breaking in than people complaining about us being in there. In fact, with the old van, I had two instances where people tried to break in, while I haven't had any with the camper. Probably because small transporters look more likely to have valuables on board than a camper van, that doesn't have any stuff laying around visibly (We always keep the room that you can see from the windows as empty as possible).
Hope that helps. Enjoy the ride! Curious what's to come next :D
Robin