Something that I've found helpful in my last few trips is the versatility that using a bivy as opposed to a tent offers. A tent is a lot more noticable than a bivy, especially if it's brightly colored which a lot of tents are. Just for peace of mind, I've found it nice that with a bivy I can lay down right in a thicket and be pretty much invisible whereas it's a lot harder to set up a tent in a spot like that. That said, if you're in a more permanent spot having only a bivy is pretty miserable.
If I'm planning on staying somewhere for a few days, I usually find a spot in a small forest/thicket just outside of town, and build a shelter out of the natural materiels around the site, and sleep under that with my bivy. If your shelter is constructed out of natural materiels, it'll blend really nicely with the surroundings and it's a lot less likely that you'll be spotted.
I also try to never have light on when I'm at my spot. Especially at night, lights are a dead giveaway. I also used to never have fires at my spot, but that really sucks in the winter, so I started using Dakota fire pits. Dakota fires are lit in a deep pit which is fed oxygen from underneath by another connected hole. This way, the light of the fire is concealed by the walls of the pit, and the fire is almost completely smokeless because of some fancy physics which I honestly don't understand. If you're still worried about people seeing the light off the fire, you can build a heat-reflective wall in the direction that you think you'll most likely be spotted from. That serves as both extra camouflage and more heat.
As a lot of other people have already said, the chances are still pretty low of being found while stealth camping if the right percautions are taken. That said, if you're not getting good sleep because of the fear of being found, take every measure to put yourself at ease. Good sleep is super important, so going the extra distance always pays pays off 🙂
