I have stayed in rest area all across the country. If you are e galley parked in a class A you will have no problem. The no camping sign is for tents and awnings. I pull in at dark and leave in the morning. Never had a drunk or loud music or a bonfire out of control. If you stop there during the day then night is no different. I have covered 300,000 miles this way in my motorhome. Heck, Tioga George never stays in a campground but I do when I get to my destination. Every talks and says it is dangerous or unsavory, well life is dangerous and there are issues in campgrounds too. I find wl marts too busy and so are trucks stops. I have been in a rest are out west where I am the only unit in there all night or most of it.
Now some say to stay in a campground , sure I bet you want to be next to e too. I will pull in. At 9 pm and leave at 4am. I have a resonator now so I am a bit louder too. I have everything indeed in the coach and no desire to travel far off the interstate. There are a few camp grounds Ido use but they are easy off and on and full of transients.