If parking is permitted in the street, park in front of a house where no one appears to be home. Or else right at the border of two properties.
If there is no parking allowed on that street, try parking around the corner, or on the next block. There could be a small parking lot there - perhaps for a bank or church - or an empty lot.
When choosing a neighborhood to work in, you can drive around first to determine where to park. You might end up parking in one street, walking 2 blocks away, and working your way back toward your car.
Watch out for dogs. If confronted by a dog, DO NOT look at its eyes. Look over its head. Never look at its eyes; to a dog that is a confrontation.