Agree with Tom, We love to anchor and never have any trouble in the dinghy unless you are simply surrounded by private residential property in some remote cove. I can think of a few. Marinas want you there becuase they know you have a wallet and heck in the winter, they are just plain lonely and happy to chat.
When planning a night at anchor, it's good to do a bit of research to see if there is a public dock, park, marina, or boat launch that you can use for dinghy landing. There is normally at least one of those things relatively close to any decent civilized protected anchorage.
If its un-civilized, there isn't much to research or worry about.