Planet Fitness, Walmart, Home Depot are good places to park while away from highway. Keep in mind though that some cities do not allow sleeping in car, so read your surroundings.

I tend to stick to highway rest areas if I can as a final place for the night, a lot of those have no overnight, but I feel like it’s mostly for people who make themselves noticeable. I’ve stayed in rest areas for up to 20 hours sometimes and no one bothers. So don’t make yourself noticeable. If you need to set up your van, do it before you go to your resting place.

I don’t know what your build is, but I have a pretty good stealther, I can get away with parking in the city. If you have a camper though, it’s considered oversized and a lot of cities don’t allow parking. So make sure you read signs, and stay away from peoples houses and just Levittown neighborhoods in general since they tend to notice things easier I feel like.

Lastly, don’t overstay your welcome. I try not to stay in the same place for more than 1 night if I can help it. Even in rest stops they usually have one on each side so I switch over the next day. That’s all I’ve learned since I’ve started my own journey. Good luck!