Calling a stay in Cabela's parking lot boondocking, is no different that saying "Hand me a Kleenex please" when the box of tissues isn't Kleenex brand. I'm a cola drinker and will buy whatever's cheapest, but when my wife asks what I want to drink with lunch, I say a Coke, even when we only have Sam's Choice - she knows what I mean.
As for the OP's discomfort in that circumstance? It's a number's game - a type of Russian Roulette. The more you play, the more likely you'll encounter one of life's bullets in the chamber. We've been full timing for over three years and we've encountered a handful of uncomfortable situations in that time. My attitude is; if too many alarm bells are going off in my head, my house has wheels, and I'll move on, even if it's inconvenient, or doesn't fit our plans. No schedule, destination, or plan is more important than our safety, even if a lack of safety is merely a perception. I'm not sure I've moved on more than once or twice in our travels, and only a couple times I've pulled into a place to stop, said, I'm not staying here, and moved on.
What each person decides to do in similar situations is up to their own personal interpretation of danger. The only wrong answer is if you decide to stay and something does happen, and of course that outcome is impossible to predict especially when these kind of encounter rarely end up that way.
Tom and Pris M. along with Buddy the 18 year old Siamese cat
1998 Safari Serengeti 3706, 300HP Cat 3126 Allison 3060, 900 watts of Solar.
Dragging four telescopes around the US in search of dark skies.