The New Horizons craft had the largest space based RTG at about 50kg. The dimensions roughly 0.5m in diameter and over 1.1m long. This means it would end up roughly 6.6m underground, or about 20ft deep. As long as the craft are kept above abandoned land, I honestly don't see a problem with it.
As far as I see they'll be an inevitable choice in areas above 40 degrees latitude. If winter nights are too long to recharge batteries they'll never happen in those areas. I mean by their current proposal the whole UK is out of their market as well as Canada, Alaska and all of northern Europe.