Rest areas?

Several years ago my wife and I were heading back to AZ from MT after we had received a phone call and had to head back ASAP. We left MT in the afternoon and my wife was pregnant at the time. We had been on the road for about 12 hours when I pulled into the southbound rest area near Idaho Falls, to get a few hours of sleep. I remember it was September and I was pulling our 34' Avion trailer. After being in the rest stop for about 2 hours someone started banging on the trailer door. I got up and opened the door. There was an Idaho LEO rudely demanding that I leave the rest stop. We put our shoes on and pulled out, while I was still dead tired. I make the trip at least once a year and now I stop at one of the truck stops near Idaho Falls instead of a rest stop. If you go to Idaho's rest stop web site they clearly claim that the rest stop is there to rest when you are tired, but it isn't for overnight stays. Two hours of rest (if I even got that) isn't enough to be clear in your judgment when driving. I certainly was in no condition to be driving and I wonder if the person who kicked us out even cared. I really like Idaho and have always been treated well there, except for this one time.