In some countries, they do not allow tents, but camping is technically legal if you do not use a tent, except national parks and other protected areas where you can not enter during the night. In summer months rules are more strict, for fire protection reasons,so they can stop you, just for being outdoors, anytime, even during the day. Of course if you camp ...
In germany, putting up a tent for the night is OK in many places (except e.g. natural reserves) with permission of the land owner/leaseholder.
The procedure then is to ask locally whether they have a meadow/field/wood where you can camp for the night and LNT when you see someone
at a farm
at the sports ground (they may even have showers)
at the church