My usual plan for this type of stop is a truck stop, restaurant parking lot, Walmart, Home Depot, Cracker Barrell etc. Just be nice, Pickup your and other trash, do not put out slides or other wise look like you are setting up camp, ask, then purchase something from the merchant. Many merchants are ok with this behavior.
I usually try to stop late in the evening or afternoon. Park away from the store entrance, then leave fairly early in the morning. This way you are not in the way of customers. At Cracker Barrell, I eat supper there, then ask and volunteers that I will eat breakfast there as well. I usually get an OK. If not I quietly move on to somewhere else. The only places I have a problem is near attractions like Disney. The merchants are told by the Better Business Bureau not to let it happen as the parks want the business. You can also join Bookdockers. There may be someone at home that will provide a weary traveler a place to overnight. Hope your trip is pleasant.
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My wife and I would travel full time, but we have to sleep occasionally.
2001 Tiffin Allegro Bus 40 ft DP named the Wild Eagle
Followed by the Eaglet - A 2014 Jeep Grand Cherokee.
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