Anybody have experience finding sleep spots in super small towns? What do I do?

Ay family, how do I find a spot to sleep in very small towns (for example Powder River WY, Circle MT, Pecks Pond PA, Keene NY etc.)

If the town isn’t near Public Land I think best case is to street park but what if there are no places with parking spots? Can I just pull off the road onto the dirt near the road? What is the legality cause I’m tryna be stealthy and minimize my interactions with rural cops but I feel a calling to visit counties with 50-1,000 people so it may be impossible to stay a night in one of these spots without being noticed by law enforcement.

Thank you for any insight or info you can provide 🙏❤️