What a wonderful variety of ways to do the same thing.
Since the late '70s 'till now we have always stopped when we were tired and started when we were rested, usually in rest areas, truck stops, WalMarts, or whatever was available. It is the easiest and fastest way we've found, just pull in when you're ready and leave when you're ready. No reservations needed. The distance travelled may be 400 miles or 800 miles, we just stop when we want to. I've learned that most welcome center rest areas have dump stations, and that is what we generally use. Some states also have dump stations at other rest areas. Off the interstates we use whatever dump facilities we find, usually in campgrounds. I guess even when travelling interstates we have nearly always been in a "boondocking mode" and some of the places we've stayed both on and off the freeways have provided wonderful memories, but when travelling that way dump facilities become very important.
About the only time we stay in campgrounds is when it is necessary in order to visit something we want to see.
Just another way of doing the same thing.