Overnight Parking outside of WalMart and RV Parks

Your best bet would be to find a RV large enough to live in fulltime, some do live in a Scamp or Castia without issues. Next I would look at a mounth or season lease to a RV park where you would have hookups. The longer you stay the cheeper it is. Boondocking in a small camper you would have charge your battery or solar power, empty your tanks and fill your fresh water very often in a small RV. A camp ground would solve a lot of problems and be safe.