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I do understand people don't want homeless camps parked outside their houses. But cops harass people sleeping in their cars wherever they are. Some rest stops only allow you to stay for 3 hours. Some cities ban any sleeping in a vehicle anywhere in city limits from 10PM to 6AM.
If it weren't prohibitively expensive I'd buy an old semi truck and drive it around without a trailer. It would be like the ultimate cheat code for sleeping in towns without getting harassed.
You might be mistaking that with Walmart (?) and other stores that pride themselves on offering RV (and, where possible, semi truck) parking in their lots during off hours.
The vast majority of businesses will call a towing company or even the cops if they notice you are sleeping in their parking lot for an extended period of time.
I generally strongly discourage people from sleeping in parking lots (you tend to be pretty isolated and don't have the regular patrols/traffic that rest areas do) but as long as you get there at or around closing time and leave the next day, the vast majority of counties will not care. The issue becomes when you are there long enough that the employees notice.
Honestly OP? It mostly sounds like you just don't know how to "correctly" get your vagrant on. It increasingly seems like you are just pulling off in residential areas or setting up shop at a Trader Joe's.