I've hunted on some range- never heard of a problem. That is excepting looking at the manure piles and torn up hillsides and drinking spots. I got spooked a bit by a big steer that busted out of some heavy cover once. Their pretty docile and keep to themselves for the most part. Might not want to turn your back on 'em when you're really close.
Interesting why you said you would rather camp where cows are? I can't get far enough from the blasted things!