This is the number one rule of boondocking. Do not draw attention to yourself and usually you will be ok. For instance state to state the actual laws are different for boondocking use of rest areas, but provided you aren’t setting setting up camp (pulling out lawn chairs and using outside BBQ) or being excessively noisy it’s unlikely you will be bothered/asked to leave.
Another great place to stay the night and save yourself a few bucks is at Walmart. Be careful though some Walmarts have been forced to not allow this practice by local RV parks. Check for signs at all entrances to see if overnighting is prohibited. It is also a good idea with Walmart to let the manager know you are out there. Never hurts to have security keeping an eye out.
Malls you can usually get away with a night of boondocking, but once again it’s good to go in and talk to mall security. Also go in and buy something, if you are going to use their lot for free at least pick something up. Some places have a don’t ask policy. Ask security and they say no, but when you ask about the 5 other rigs out there they say they never asked….
This covers stay over boondocking when you are only staying the night and off in the morning (just looking for somewhere to crash). Later I will get more into some good advice on scouting and rig prep.