Yeah, I think I would agree. The caveate is that motorized access often means more people. Some percentage will liter. Camp grounds with motor vehicals allowed are no different from back woods camping except the volume of people.
I remember remarking that "People out here should know better." to my daughter when we were hiking. She thought a second and said, but carrying that out means more weight. I have since come to think this was correct in many regards. Old canisters are a BIG problem. I find one in many fire pits. ('Corse, I stomp them flat and slip them in my pack.) Old pans, grills are left thinking the next person can use them. Nope, I carry in what I need. Old beer cans 20 mil;es into the woods?? Who would think to bring beer, and, carrying that weight for 20 miles? Generally I have found three regions where I can find trash. Camp grounds(State or DEC), 2-3 miles in are often covered by half empty water bottles, broken straps, pieces of plastic, gum wrappers, snack food containers, toilet paper, broken gear, etc. From 5-10 miles is often pretty good, the people that try. 20mi plus you run into lazy campers, those willing to carry it in, but not out. Canisters from stoves start becoming a problem at this distance. Old tent poles, I carried out a small cooler one time. Grills, a number of steel stakes, a couple pots, frying pans, broken fishing lures, whatever. But, this is generally ONLY at the camp sites or lean-too. Trails remain pretty clean. Surprisingly, I do NOT find much toilet paper 20mi in...
Anyway, stealth camping is by nature uncomfortable for me. Though I cannot say I have NOT done it. Like others you wait till dusk before setting up camp. No fires, often not a perfect tent ground. At first light I wake and start packing, not heating water. After I am packed, then I can heat water and make breakfast. I leave nothing. After breakfast, I put my pack on and check the ground. After hiking a few steps I turn around and check it again. Not perfect, but... IFF I get caught or someone says I cannot stay for any reason, no arguements...I leave. People generally don't care if you are polite, clearly just spending a night, not making permanent scars, etc. This is kind'a like camping in some's back yard though. If they say something like "I wish you wouldn't.", I pack up and leave. I have hiked in the dark before and hiked through the night at times. If I get a ticket, well, that was what I was doing...trespassing. I earned it. If the guy says "Sure, no problem, just be out in the morning." I agree stating that was my plan and I apologize for intruding on his time. It is his land, his time, afterall. And I, by my presence, forced him to check on me. Tell him the truth, I was hiking xxx, but got off the trail and needed a place to sleep. Again, I am uncomfortable, I know he is. Just be prepared to move and usually there is no real problem. BTW, I have never gotten a ticket.