When visiting relatives we normally park in their driveway, if there is room. If local regulation allow we will also park on the street in front of their house. A quick call to the local police station will tell you if this is legal. Otherwise we find a campground that is close. Again while making miles getting to a destination, we look for the convenience of a large flat place that is close to the highway in a safe environment.
Common sense is important when selecting a place to stop.
If you are on private property, ask permission. If you are on public property, ask permission. If you don't know, ask permission. Don't camp, just park and get some rest. Don't make any extra noise.