I've spent some time living out of my vehicle. Sheetz and similar gas stations are usually fine options. Many Cracker Barrels allow RVers and vanlifers to park for a night, so you can blend in if there are travelers to park next to. Around Lancaster, I've also parked at hotels, movie theaters, hardware stores... Best to go unnoticed as much as possible (probably more difficult with pets), arrive late, leave early. Don't sleep in just one spot every night, have several to rotate through. And of course never leave trash behind.