I head for the National Forests, State Forests, Conservation Land or just Public Land and find plenty of free camping in most states. Many of the 'old' in town places are disappearing. 

Safe Travels

One: those guys and gals have less options and are on a mandatory DOT rest break. Truck parking can be in very short supply these days, but you can park your RV in a variety of other places...RV parks, campgrounds, Walmarts, rest areas, Cracker Barrels, or even at the front 'auto' area of the big truck stops.

Two: many trucks these days have horizontal exhaust (weed burner exhaust) for the main engine and the APU and sometimes that exhaust (depending on the prevailing breeze) can be sucked right into your camper windows or vents. 

You might wake up smelling the smoky smell, with or without a headache. Worst case, you might NOT wake up. We don't want that. 

Bonus third reason: Damages occur in truck stops as those large rigs maneuver forward and backward...a tired truck driver at 3 am might back right into your vehicle which is in his blind spot, and then drive off....it happens OFTEN.

Please...just say NO to parking in the truck parking areas.

The worst thing about some Walmart parking lots is the gathering of youths with loud cars that like to rev their engines. It does not make for a restful night, at least until they finally clear out. Some of them seem to deliberately make noise near RVs. Cracker Barrel has the problem of cars parking in the Bus/RV lanes, blocking them so that they are not available. This is regardless of whether there is adequate parking in the automobile parking lot. However, the Cracker Barrel restaurants that we have stayed at have been a good choice overall. We did have one where someone was running a non-inverter generator. That was not very considerate of that person.

Before you say yeah, picking the lousy cheap places....NOPE. This kinda crap happens even at LaQuinta and Motel 6 and Motel 8, Amerisuites, Hampton Inn, Americas Best Value Inn, Holiday Inn Express etc etc etc....

If  you only stay in motels a few times a year, chances are you won't have bad luck....but I used to stay in about 300 motel rooms a year, for over 5 years, early in my career, and I have learned to HATE the experience.

I pull my bed around behind me for a reason!  Just sayin....

Not a fan of motels. Our younger daughter wound up bringing bedbugs home from a motel stay once (to her house, not ours). I much prefer to sleep in our own bed. I also do not rest well in unfamiliar places, so I don't sleep well in motels.

The place where we stayed was well within commuting range of all the Bay Area points of interest and the cost was way, way less than any hotel or motel where we could have stayed.  It's also nice to have a bed and pillows you are used to and to have your own cooties instead of some strangers.  

But all that being said, as OG suggested, it's really a matter of personal preference.

We do, every 5th - 7th day hit a spot that has Laundry and nice showers. Sometimes it's a campground (state or national) with good showers near a town with good laundry. Just us as we travel.Yet, on the road to a spot, I still had inland and look for a spot in-the-woods. Most times this is a county/state/federal owner land fairly close to the (or along) the route we travel. Now with even more sources available, a new friends land. 

I've come to know many folks that travel now. I find there's not much reason any longer to stay amongst the semi's.. unless you choose to. A few states we traveled through had great rest area sites, I mean awesome, just for the traveler. Alast those are currently shut down and post 'No Overnight Parking'. Hopefully they do come back.. Yet still, a few miles inland there's something if you research a bit. So much info out there if you look.

Safe Travels

Before COVID I met lots of nice folks but there's lots of communication with hosts so last year I was able to discuss in advance my social distancing practices (I was being very strict going home to see my very elderly mom). Especially as I do lots of my traveling by myself and have to walk my dog outside my camper, I've found this more comfortable than Walmart etc.

Hosting on BoondockersWelcome is free for the host....just sign up and offer up a spot or two. 

Caliche (2") is fairly cheap ($150/20,000 lbs delivered) and it works, but it does require a bit of maintenance now and then. Mixed with sand and spread around about 4-6" deep or so, then packed down with a heavy roller or tractor tires, its a very solid surface for parking vehicles on.

Would you share how to find you on BW? 

I have lots of dates 'blocked out', but if you were to pass thru the Texas Panhandle and want to camp a night or two, just hit me up here and we'll ignore the blocked dates.

I have always put the slide out at truck stops and no one has ever said a thing, for whatever that's worth.  You're right, Pod slide-outs just don't extend far enough for anyone to care.  A big ol' 4 foot slide out might be a different matter...

TT

I did put reflective tape on the slide on the front and back right next to the flange so that if someone is pulling in next to us, the slide will be more visible. It is in an L shape on the bottom corners.

I drove truck for 40 years and I can tell you...sh*t happens. Over the course of my career I was awakened many times when my truck was hit by another truck pulling in, backing in, backing out, or some other maneuver. Usually at night. 

It is not fun being awakened from a loud crunch and a violent shaking and then scrambling to get dressed and exit your vehicle only to see that the offending vehicle is leaving in the dark...no way to catch them or identify the exact vehicle. Looking at your rig and seeing damaged and bent bodywork and pieces of your vehicle in a pile on the asphalt. 

I'd be careful parking around trucks....is all I'm sayin.

I also saw a sign at Loves Truck Stop of commercial only for overnight parking. 

Wave "hi" as you pass through Bath on Route 1. I'll be there my the end of the month