I dont stay at Walmart often but I have never seen what I consider RV'ers to be setting up camp. I think what I would just call normal RV people are not the problem and not the reason any of them close to overnighting. It's not the slides or someone running a generator that you cant even hear with traffic all around, it's the dirt bags who make it home. It's fine for the op to open his tip out over the lawn just like a slide. It's probably fine for someone to come in at night and use their pop up then get up early and leave but dont set up chairs and grills and hang out. It doesn't matter if a pop up has it's wings out and not even touch the pavement when next to him is a 40 foot MH with twice the footprint. Just dont put out the awning or chairs or grills. It's get in, sleep and get out. Well, maybe dump your black tank in the ditch on the way out, just be quick about it. ;)
