im with the OP when he talks about his vacation time being precious. i good routine that has worked for my family and i is dry camping 2 to 3 nights and getting as far as we can and then that third or 4th day we pull into a campground early and relax, use the pool, whatever. if we need to fill water or dump tanks its easy.
ive dry camped on BLM, walmart, pilot, flying j, rest stops, home depot. i dont follow any of the made up internet rules about staying overnight in a parking lot. i just ask the manager at the place im staying at if he cares if i run my inverter genny or drop the back stab jacks. never once a had a manager care what i do, but they usually direct you where to park. truck stops are easy, just stay within your parking spot. loves, pilot and flying j welcome rv'ers so i dont feel as if im stealing a truck drivers spot. same with the rest areas.
all i really watch out for is whether or not i feel safe with my family at that particular location. thats a call only you can make. good luck and enjoy your trip.
