New to RV....new to class c....new to it all

WE have used parking lots or truck stops for sleeping purposes, usually a few hours to recharge and then off again. Our local Walmart is pretty liberal with overnighters but I believe it varies by location. Many rest stops in the western states will be filled up with sleepers at night although I believe they are posted no overnighting, but we have never been asked to leave, once again we aren't staying more than a few hours not camping out. Idaho has many acreas of federal and state owned land, and alot of it is open camping, although there are often campfire restrictions if not in a developed campground. I know some other western states are the same.
Good luck and enjoy your RV,,,, it really is the only way to travel.