Imagine this , a stealth mission of SH . They invade Kaido's and Big Mom's teritory , Nico reads the road poneglyphs , they find the fourth (missing one) go to Raftel find One Piece , and done . No fighting the Emperors necessary xD
The Straw Hats have tried this whole 'stealth' thing before. It NEVER works out for them. Besides, Luffy would start rampaging immediately, Zoro and Sanji would fight and make a scene, Franky is too suuuuuuuupperrrrr for stealth, we all know the extent of chopper's hiding/peeking skills, Robin would be the only one who knows what everyone else is doing and just laugh and start beating the crap out of people, Nami and Usopp would be so paranoid that they end up getting seen and they end up running and screaming with an angry mob behind them, and let's be honest, Brooke wouldn't be able to contain the urge to scare passers by with his puns/appearance/laugh.