This has got me thinking, which is never a good thing.
Here’s what I think I’d (I’ll????) do:
In short: A van towing a very small (6-8′) cargo trailer.
The van for comfort: A futon/bed for lounging and sleeping, a Lazy-Boy chair for lounging and working, and some storage for clothes.
The cargo trailer for the utilities: Kitchen, refrigerator, toilet, shower, battery-bank, and solar panels.
A rig like that, you could live comfortably practically anywhere for free: woods, towns, or cities.
You could disconnect the trailer and stealth camp in the van right in the heart of even the biggest city for a few days at a time.
In the forest, you could leave the trailer in the hot sun for solar and run an extension cord to your van sitting in the shade by the river.
Buy a cheap used van for a couple grand and if it dies, buy another one. Toss in your futon, chair, and clothes and drive off.
The more I think about it, the more I’m liking it (which is also never a good thing).