There's a blog out there, as there seems for most things these days, that shares just that experience - To simplify...
The guy writing it is called Glenn Morrissey, a musician and composer working in the film industry. He started living in his Class C as an urban nomad in LA several years ago, as an experiment. He's since moved out of the city, and lives full time in a VW van travelling the wilder parts of the South West. Currently he's on tour in Australia.
His blog goes all the way back to him selling off all his stuff and moving into a Falcon Class C. Good, fun reading. He never had any problems with his urban camping adventures, in fact he was constantly surprised by how easy it was. Of course, a well kept, fairly new and clean Class C helped him along. They are easy to park without getting too much attention.
He's a good writer and an interesting guy. From what I know of him he's quite well off, so this isn't a financial decision for him.