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This guy on youtube comes up with ways to discreetly camp under bridges or sleep in vehicles. I think he built a pull behind trailer that just looks like a stack of pallets but is really a pull behind camper he sleeps in.

Camping In Secret Bridge Fort https://www.youtube.com/watch?v=pc20TjmKiPw

I don't know what this guy's story is. He might just be a content creator. Not sure if he really lives the life.

I do know that many USA cities are really cracking down on even letting people sleep in their vehicles

I traveled to do a job and tried to catch some ZZzzz's in my truck after finishing a job around 9pm and cops rolled up on me. Then i went to sleep in hotel parking lot and security came out of the hotel and said i couldn't even sleep there. I eventually went to a hospital parking lot and slept. The city i was in must have a problem with it because i had never had so many fucking people bother me just for sleeping in my own truck for a few hours in large empty parking lots, not fucking with anyone else or playing music or even idling the engine.

Also i remember i went with fellow to Baltimore and we both dozed off around 2 or 3AM in fast food parking lot but i woke up just in time because a bunch of niggers were preparing to rob us and we had to start the car and get out of there fast.