PARKING 5th wheel on streets?

The issue that you might want to consider is personal safety. Anytime that you stop, you need to be aware of your surroundings. I have parked overnight in Rest areas, Wal-Mart, Camping world and at a Flying in the past. Once you lock your doors and bed down, you have no control over who is outside and what they might do to your truck or RV without getting out and checking and placing yourself in harms way. The places I noted all had security driving around. If you are going to go full time, you might look at joining a travel club like C2C where you can stay 2-3 weeks at a time for a reasonable cost. Not only are you and your equipment secure, the parks have many social activities where you will meet many very nice fellow travelers who can give you advice on future travels.