boomhauer

Yes. Most the time I already have scoped out the town fair grounds but there isn't a sign that says camping is allowed. I call the local police department to see if they mind if I set up a tent there. Mostly it's fine. Other times they say it's not allowed. Many times they send a patrol car to meet me and just so they know who they are dealing with (they probably want to make sure I'm not a vagrant).
Most of the time the police will give you advise on where to stealth camp (believe it or not) when camping isn't allowed in the town.
Many of these towns have hotels but I've never been told to stay in one.
Mostly I don't want to get kicked out because I didn't ask. I also drink beer when I camp and ask the police if I can legally drink in their city park.
I found the police to be a great resource and usually call ahead to the town where I think I want to camp. I usually roll into towns near dark and would like to know all of this in advance.