Set up late, clear out early. Discrete camping on the road means different things for everyone. Accommodations can range from tents to tarps, bivouacs to hammocks depending on personal preference. The requirements for shelter vary for everyone, in every environment.
Tents are the heaviest option for shelter, but are the most private and sealed
Tarps can be a very lightweight option for those whom are willing to make certain sacrafices
Plastic Bag=instant shelter
Why sleep on the ground?
A Dakota fire pit can be useful if you do not carry a stove
Also check things to carry