If your talking about 800 mile days and just stoping overnight and leaving first thing then sure Walmart etc can fit the bill. Not my kind of travel to be sure , never again but I was there once and had to make the most of the time I had
re sight seeing on the way we hardly ever leave the rig to do that .. Many places have RV parking for your visit and if not we get a RV park and spend the night before or after and add it as a stop on the way. I kinda always felt if you could stop and sight see you had time to spend the night in a paid park
