Depends on the situation, and how much you want to stand up for your rights.
First off the Supreme Court has ruled anti-loitering laws are illegal, so they can't use that against you as long as you are not engaged in any illegal activity and are not on private property.
In my state we are not a stop and ID so any interreaction with demands would need RAS, the LEO being video taped is not RAS. Of course they can like any one approach you and ask you anything they want, that is consensual. You can politely (best to be polite in my opinion) refuse to comply with any demands, if they can't get give RAS. Including being asked to leave if it is not private property.