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Minnesota has stealth camping laws similar to other states.

You cannot stealth camp on land which has been fenced, posted, farmed, or is near structures.  You cannot stealth camp on any land that you have been told not to.

You can stealth camp if the land is not fenced, posted, farmed (including trees and grasses), or near structures, and if you have not been told otherwise by the owners.

You should verify this with your own research including possible city and county codes and laws.

Our Research
(b) A person is guilty of a misdemeanor if the person intentionally:
(3) trespasses on the premises of another and, without claim of right, refuses to depart from the premises on demand of the lawful possessor;

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2009 Minnesota Statutes - 609.605 TRESPASS 
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