My wife always preferred RV parks or campgrounds, we were not in a hurry and each new place was part of the experience. But we usually pulled in late afternoon, left mid-morning. Setups were minimal for overnights, but we did have a cord to plug in and two slides to move out. A lot of this was driven by the need for power, to run air conditioning. Between the Appalachians and the Rockies, it can be quite hot through the "camping" season. Same for the desert Southwest and the Deep South.
If you are going to stop only 4-6 hours, and you have no need for power for climate control or cooking, truck stops, rest areas, available parking lots can work. There are a lot of rest areas that discourage activities that look like camping, but still others that have separate RV areas and even some with power hookups.
Alone now, I travel more often in my van, and I could sleep in it at rest areas and travel centers. But for a good rest for another long day of driving, I'll pull into a business class motel (preferably one with restaurant and bar) and spend upwards of $100 for meals and a room for the night. I've done the same traveling in my RV through areas hot enough that I would need hookups to get a comfortable sleep, or I wanted to save the time needed for the "camping" part.
Your choice. What other people do, they may have different needs and different goals.
