Within Yosemite National Park, you may not sleep in your car or RV except in a campsite that you're registered to stay in (except at Camp 4, where sleeping in cars is not allowed because it's a walk-in campground). Sleeping in your car along the side of the road is not allowed.
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Lodging options inside Yosemite National Park are managed by Yosemite Hospitality, and range from simple tent cabins at the High Sierra Camps to deluxe rooms at The Ahwahnee. Reservations are available 366 days in advance and are strongly recommended, especially from spring through fall and during holidays.
Can I Sleep in My Car at a Campground? Many campgrounds, including some KOAs, will welcome guests who choose to sleep in their car at a campsite. It's always a good idea to call ahead so that you ensure you're reserving the right type of site for you car camping adventure.
Make sure you know before you go. In national parks where grizzlies live, such as Glacier or Grand Teton, rangers encourage you to carry bear spray. In others, such as Yosemite, where only black bears live, bear spray is not even permitted.
You can sleep in your car in Sequoia National Park at an established campsite. However, you cannot park in parking lots or along the road and sleep in your car. This style of car camping is called “dispersed camping” and is only allowed in certain places on National Forest or BLM land.
The policy of Walmart welcomes RVers to spend a night in their parking lot, as long as you have the individual location's permission. In some places, city zoning laws or ordinances will prohibit overnight stays in parking lots. Typically, larger cities are most likely to have these types of restrictions in place.