I could care less about ruffling feathers. I don't think I have ever seen one concerned look either. I use the truck stops because a 40 footer and a toad are hard to get around. Fill, pull forward, then go inside if you have to pay. We then move to the parking lot to stretch the dogs and take a break ourselves.
Using the Rand McNally GPS is a fantastic tool for finding fuel along your route or near someplace you are interested in. Just touch a couple of buttons and you can easily find truck stops along the way and what features they have. Some have no place to park other than fueling so I try to avoid those.
If you want to pre flight your trip use Google maps to find fuel and then zoom into the place so you can actually see street level turns. In some cases I will print the pictures out and make notes. No worries exactly what the stop looks like or how to enter and exit.