Not all states allow overnight in a rest area. Do they enforce it? Who knows. I know I see them all the time at the rest area near my house. And there is no overnighting in rest areas in NC. But I have never seen a police car there at an RV as I drove by either. Personally, I would opt for a truck stop or somewhere like a walmart that allows it over a rest area. Campground would be an ideal situation as long as it's easy to get in and out, open upon my arrival, and not costing an arm and/or leg. I would find anything under $35/night reasonable.
With that said, I think Rv parks should offer sites (parking places) for over night without any hookups or amenities at a cheap rate. I would pay $5-10 to pull into a quiet and safe campground, just to park overnight. I don't need electricity. If they have potable water and dump station to use, that would be great. But it would be for one night only. After one night, you pay a regular rate, whether you are in a regular site or not.
