For a one night stop, No need to unhook or drop the legs.
As to where to stop all Pilot and Flying J travel centers have RV fueling, Dumping and Free Parking away from the trucks. Most also have good restaurants at reasonable prices. If you decide to use Pilot or Flying J sign up for their RV reward card...
PS, Just done a three week trip to Key west and Flying J and Pilot were all we used during the trip. For more than one night look into Federal, State, County and even City cap grounds. Most have water and electric with a dump station on exit. Have fun......