Just do it.
Worst that's going to happen is that someone in authority is going to ask you to move on. So you move on a bit. It's not a big deal unless you're tied to an area because of schooling, work etc.
In reality, if you keep a low profile and a tidy boat you'll be just fine. You won't get hassled unless someone lodges a complaint, and that's unlikely.
I lived on a boat in Pittwater for a couple of years when business went pear shaped and it was a choice of renting
unit above a shop on a busy road somewhere, or moving onto the only asset the bank and I had left, a boat.
Took our chances moving on board and it was the best way to be on the bones of our arses you could imagine. The kids
loved it and learned to love reading books
(no tv or computer games).
Friday night on the back deck
with a bowl of nuts and a $5 bottle of red, and we felt lucky and still in control of our lives.
poilce used to drop over and ask if we'd seen anything or if my son had heard anything at school
when dinghies or outboards got nicked. They liked us being around because we were no trouble and another pair of eyes for them.
That was 18 years ago.
And right now we're in the process of selling the house and we'll be buying
a livaboard boat and doing it all again, this time retired and with a deepwater ketch
of some sort and the freedom to go wherever we decide to explore next.
Good luck with your plans.