I live for months at a time -8 months this year- in a small camper. Been traveling like this 14 years. Before that we lived in National Forest during the summer and Baja in the winter. Did that 6 years. Before that we did winter's in Baja and summers in a house.
I can't remember the last RV park I stayed at. None this year or last. Maybe 2 nights in 2015...
It can be done. You get use to dry camping. It is much more convenient for me, since I am moving around every day, and only a few days in each city. Checking in and out of parks is a pain.
So Walmarts, and street parking are what I do. I like it, but don't have any pets or kids.
Drove to Scranton, PA this evening, spending the day tomorrow here. Connecticut tomorrow night.
Brian