Outside of the few main hotspots, people don't hassle you in Bali. They are an incredibly friendly and polite people in spite of the tourism.
Of course, Bali isn't completely hassle free. But you can just walk down the street there, at least outside of the main hotspots. Taxi drivers will hail you, it's a bit annoying, but they're polite and will drive on when you say no thanks.