Traveling in our PW Excel, our preference even when just staying one night on the way somewhere was always to stay at state parks or other public campgrounds. Most commercial RV parks are not very attractive and are overpriced. We usually were off the road by early afternoon, picked a site then took a walk or a hike in the park or drove into a nearby town if there was a nice one close by, often eating dinner in a restaurant. On an extended trip you need to stay from time to time in a KOA or similar for the laundry and more complete shower (not an issue with a Pursuit). We never stayed at a Walmart. We didn't have a generator and didn't want to "camp" in a parking lot anyway.
We enjoyed many good experiences doing this. As an example, we were in Georgia on our way home from a trip and needed a place to spend the nite. My wife spotted Roosevelt SP on the map. Turns out it was where Pres. Franklin Roosevelt built the "Little White House" near Warm Springs, GA where he got relief from the pain of polio. We visited the modest little wood house and museum. Our campsite was very nice, right on a lake. The next day we visited the cool little town of Pine Mtn. All of this was a completed surprise to us. Just one example of many illustrating the good life of RVing, especially with the mobility of a Class B.
We are picking up our new Pursuit next Thursday, can't wait to get back on the road!
Jim