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[–] Dark_Shroud 0 points 1 points (+1|-0) ago 

Plenty of Walmart's now allow people to park over night with RVs or similar. Mine had several parked in the back of the lot this last summer.

So one night shouldn't be too much of a problem as long as its towards the back.

We used to do one night at the rest stops. Usually the ones where the truckers pull over are "safer" and a good sign that over nights are allowed. Just make sure to use the buddy system and that the kids know not to leave the vehicle at night. Although now child locks make that easier. My father's old van had a bright red reflective paint mark so you could see if the side door was unlocked or not. And he & I checked it all the time for safety when traveling.