Only stayed overnight in a truck stop once. It was in Minnesota, in the middle of nowhere, where there were literally no campgrounds (of any type) around for another 100km, at 9pm, with 2 young kids. We were running slow, and didn't make it nearly as far as I'd hoped, and this was the only option.
Parked in the farthest back corner, and still woke up to a big rig parked so close I could barely open the tt door. It was noisy, but considering how tired we all were after 14hrs on the road, we slept pretty well. Filled up with gas in the morning and drove on.