Rest areas in the United States are located along Interstate highways and some state highways. They have varying rules, and varying levels of enforcement of those rules, for sleeping overnight in your vehicle. See individual State pages for links to state-specific rules. Rest areas are sometimes called "visitor centers" or "welcome centers", especially near borders.
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Truck parking at rest areas
Please don't park in the truck parking area unless you have a very large vehicle and can't fit in other spots. The truck parking spots are designated for truckers who are working, or resting from work; truck drivers are legally required in most jurisdictions to stop driving after a certain number of hours on the road, and they have a very limited number of places they can legally park. In small truck parking areas, your vehicle may get in the way of truck maneuvering. Also, parking very close to running diesel trucks exposes you to more exhaust fumes, which could be hazardous to your health.
Instead, park in the areas designated for passenger vehicles, preferably in a spot not near the main building.