If I am staying at a campground for just one over nighter, I hook up the water,electric, cable tv (if available), then since it only takes a couple minutes more to unhook the truck, I do that too.
Really, it does not take long, plus it levels the rv for comfort, and frees the truck up for sightseeing,food & fuel runs.
I have overnighted at truck stops, and rest stops, and I will not do it again.
it is noisy, too much traffic, and scary, with vehicles driving too close to my open slides, and steps.
It might be alright at a Walmart or such, if I had a generator, and television. But without the essentials, I'll stay at campgrounds.
While I am at it, I may as well say that I like to limit my travel distance to about 300 miles a day. It is easier on my back, eye strain, and legs.
Feel free to ignore any of these suggestions that you disagree with. It's only what I do.