We've had to camp at Walmarts a few times.  No problem, even with the
poptop up.

No ambiance in a parking lot, but as Don said, better than driving
tired or paying for a motel just to catch a few hours sleep.

Best thing is to walk into store, go to customer service and ask "Do
you allow RVs to park in the lot overnight?"  If allowed at that
particular store, I've always gotten an enthusiastic "Yes we do!"

I make a point of saying "RV parking" instead of camping.
If they allow big RV's, they allow small RV's.

Lastly, it's best to stay at Supercenter Walmarts.  They are 24 hour
stores so you have restrooms and snacks available in the middle of
the night....

>Out of curiosity, I clicked on the freecampgrounds link and checked my
>town's Walmart and it is listed as no camping, but this parking lot's
>NE corner is ususally inhabited by at least half a dozen RVs. I will
>have to check. Perhaps they are just tolerant, as this is a town that
>sees a lot of tourists.