RV Boondocking on city streets - where is it legal?

Turtle n Peeps wrote:
As far as I know there is no rule or law that says you can't legally "park" on any street legal parking spot in the US.

As long as you are legally "parked" in a legal vehicle there is nothing nobody can do or will do. :B

This simply is not true, but is a common misconception. Parking involves the vehicle. Occupying/living in that parked vehicle is a completely different legal issue which as mentioned in other posts can be covered by zoning, vagrancy and a variety of other regulations.