From a little bit of research, it seems that local ordinance prevents overnight parking in their lot with a camping vehicle. Would suggest you call them to make sure that is still valid or if exceptions can be made.
I agree that using the RV as a base for support is great. Last time my FIL was in, I stayed in the TC in the parking lot while my wife stayed at night with her father. Made her feel much better knowing I was only a few feet away in case she needed me.
Here is an older thread (2007) that may be of help.
Mayo Clinic Jacksonville
