We have only overnights date a Wal-Mart once in our 5th wheel and it was fine. We asked permission and parked out of the way next to the curb so we could deploy our slides as needed. We have a built in generator and an inverter so we are set. We always travel with a full fresh tank because if we do stop at a campground, we just hook to electricity. We can turn on the generator to run the coffee pot in the morning and we always shower and cook breakfast on travel days. It all depends how comfortable you are with this type of stop. On our trip to Alaska, we did quite a bit of dry camping, once even staying in a pullout beside the Alaska Highway. It was fun!