> Ever use that roof top tent in urban areas? How hard is that?
In a Walmart parking lot, yeah. I generally use Austin as my base, and in Austin, people sleep in normal tents all over the place. Rarely are they kicked out. If you're trying to park in a well-to-do neighborhood, it's possible you'll get called out for it, but quite likely if you're quiet and clean and gone the next day no one will say anything. Often, I see the big recreational vans when I'm traveling. People park them and sleep in them everywhere. As long as you're not staying multiple nights in a row in the same place, you're generally not going to bother anyone (they will usually assume you're just resting from travel).
But honestly, state & national parks are usually the way to go, particularly for tents. Sometimes it's free, sometimes it's a $5 per night honor system deposit envelope, occasionally it's a park ranger registration, depending on the location. And you don't always have to travel far off a main highway to get to a decent campsite, there's tons of spots if you look.
