As others have mentioned, Walmart does, many municipalities do not. Noting the comments of @JaxDad from Canada, I'll mention that I've a daughter who lives in Los Angeles, who tells me that there is a substantial population of otherwise homeless -- and aimless -- folks in that area living in RVs. Because they can be a problem when they set up a permanent encampment somewhere, the city has passed ordinances to give the authorities the power to make 'em move on. Among these are requiring a permit to park an RV on the street overnight. She says they have no problem with residents who have visiting family in town in their RV for a few days, and actually grant permits in those cases. But the permit is given to the home owner allowing the RV overnight.