Can I sleep at a rest stop in my RV?

Rest stops usually have a section for trucks where you will see truck drivers sleeping through the night, you can park your RV and take rest. If your RV is small then you may be allowed to park on the car section. Many gas stations allow trucks to park and rest for some time. If you have a good RV GPS then it will guide you to the nearest rest stop where you can take some rest and drive safely next day morning.