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Keeping your situation under wraps minimizes the embarrassment and helps avoid becoming a target for police officers and criminals alike. Rotate among several parking locations to avoid getting noticed. When you move around in the parked car, move slowly to avoid rocking the car. When it's sunny in the daytime, use a sunshade for the windshield. You may find that you need and want more privacy than windows offer. There are a few cheap ways to gain this privacy. Reflective window shades in your back and front window help. Similarly fold up shades on the side windows are good. You can also buy some cheap cloth and either stuff them in the windows, tape them in, or hold them in place by magnets. Black cloth is best for privacy and blocking out light. If you can afford it, and local laws allow, and you don't mind driving with it, get your windows tinted as dark as legally possible. This along with the front sunshade and dark cloth or towels can provide a lot of privacy. If you hang a towel or cloth on an untinted window, it screams homeless person. You hang the same on a tinted window it'll be impossible to see inside and won't draw attention. Keep the windows cracked open while you sleep, not wide enough for someone to reach in, but enough to allow fresh air and reduce condensation on the windows.
Be discreet.