We've done this occasionally for 20+ years. If you're really concerned, pick places that other RVers are parked. However, we've never had a reason to be concerned. Truck stops are noisy and we don't like them for that reason but I would consider them safe. Rest Areas - we wouldn't exit our RV to use the bathroom during the night but otherwise, o.k. If you have a smaller RV and find a Cracker Barrel, that would be good. Most of their parking lots are not conducive for big RVs. We really like casinos. WalMarts are just fine. There are plenty of other folks around and there are usually patrols that drive by all night long. I'd advise you to let the store manager know that you'll be staying - ask for permission and they've never refused. The parking lots also have security cameras. We've never heard of problems in our 16 years of full-timing and talking with other full-timers. As others have said, just use common sense in the surrounding area and you'll be fine.
