I have travelled extensively for work. I almost always camp, and it has always been viable for me to do so (the only times I didn't camp is when I didn't drive, which is when my time was limited like being flown into a city for a 1-day seminar).
Wild camping or at the very least a rural campground is often an option in North America within 30-40 minutes of most places -- either a state or provincial park is often nearby, but not always. If I'm stuck with no wild places to camp, I'm no stranger to Walmart carparks in a pinch. Even knocking on a door and asking nicely can get you a spot in a front yard. The concern in my travels has never been a lack of place to camp, and always "how willing are you to camp there". When I'm on my own, I'm always willing to spend a night nearly anywhere I find myself. WIth my family I'm a bit more cautious, so I recognize the answer to this question is very individual and might not be the same for all of us.
Many folks who Overland seem to really miss out on RV parks when visiting urban areas for either work or play. Every major centre tends to have some kind of RV park "near enough" to the interesting stuff. Often, you can even leave your rig set up for the duration of your stay so you don't have the daily setup/tear down, and you can rely on public transit or Uber to see the urban sights if you want. I've also never stayed at an RV park that didn't allow in-and-out privileges for typical Overland rigs, so if you have a quick setup vehicle you then have your own transportation too. To give you an example, I attended a professional conference at Disney in California with my wife and dog; there was an RV park less than a mile from the theme park hotel hosting the conference. They had modern facilities including a pool, a great view of the nightly fireworks, and it was about $20/night. The conference rate at the hotel -- which is usually a good discount -- was $210/night. It was nice for both of us -- my wife got to spend the day doing touristy stuff in Anaheim, while I attended my work obligations, and at night we were comfy and cozy in our own bed with our snoring dog at our feet. I wouldn't trade that for the nicest hotel room in the world.
The key thing for me is to get my "comfort" systems organized. It really comes down to how you set up the vehicle, I think. We are not really "Weekend campers" -- we do go for weekends, but we focus on going for longer periods, and have set up our vehicles accordingly, so it's not "Let's rough it for a weekend", it's "Let's live out of our vehicles for a month or two". That definitely changes what I'm willing to spend or save on in terms of my rig, but that means I am more comfortable 'camping' in my rig than I am in most hotel rooms, because I have it set up just the way I like it. This is a good investment of time and resources in my books because it doesn't take too many $200 hotel nights to pay for a properly comfortable Roof Tent or a decent hot water shower system, especially if you're on the road for weeks or months.
Another part of my reasoning: has anyone had to pay for a bedbug treatment? You can make a rig VERY comfortable for living in for the price of a pest treatment for bedbugs -- It's not cheap to truly get rid of those vermin, and it doesn't matter if you stay at a Super 8 or a Four Seasons, any hotel is a risk of bringing along a bedbug hitchhiker. This is a problem that has been getting worse and worse every year, and so I'm quite happy to pass on hotels entirely. I really don't like bed bugs!