New to Rv - questions about RV parking outside of campground

If we plan to visit places or sightsee, we always get a site in a RV park and use it as our base. If we are just traveling from point A to B, we may elect to stay overnight in a Walmart, Lowes, Sam's, Cabelas. We park out of the traffic flow and only put out two slides. As far as danger or risk, we use our common sense and don't stay in places that don't feel or look right. As always, be aware of your surroundings.