What I would like to see is some minimum-liability-way for private owners of land to open it up for short-stay RV drycamping at, say, $10 per night for up to 3 nights.
We need safe and quiet drycamping spots to quickly squat for a day or two within a few miles of major routes and don't really need or care for over-nighting in over-crowded $$$ FHU commercial campgrounds. We also don't care to drive miles into the countryside in the afternoon of a tiring day of travel in order to try and find a public land drycamping spot for only one night - as beautiful and inexpensive as they may be.
We even sometimes stop at commercial FHU campgrounds and ask for a spot back in a corner with no facilities and at less $$ than their regular spots.
I guess the above is what safe and legal-to-do Rest Stops could provide - if safe ones weren't so rare and if they were along more state highways instead of primarily along only the Interstates.