Tourist area + scenic spots = high likelihood of no overnight parking restrictions.
You can do it further out in the middle of nowhere but it can be a faff looking, especially if you are a bit fussy.
In town can be done but you need to be fairly low key, i.e close curtains etc before turning on lights, pop roof is a dead giveaway.
For stress free camping, especially with a family I would find a couple of sites. You can still take advantage of the van and find a nice scenic spot to have dinner etc before travelling back to the campsite, done that a few times.
I’ve wild camped a few times, it feels more risky when we stay somewhere secluded. An deserted truck/car parking area on a French N route was probably the least relaxed I’ve been…but we’d been driving ages waiting to stop for the night.
I look for a quiet area in town now, such as a residential area (but not right outside someones house) or business park etc…just avoid big car parks with no kerbs etc as they tend to attract boy racers in the early hours. The plus side is the street lamps mean you can just open a rooflight blind rather than turning lights on.
