Yes.

In the MC touring community it's called 'Stealth Camping'. Stop late, set up quick and be gone with the sun. Permission rarely obtained. I've been caught a couple of times, explained what I was doing and left alone.

I also make use of National Forest Service 'dispersal camping'. For the most part you can stay anyplace in a National Forest that suits you. Long as you follow the simple rules. You can stay there up to 14 days.