From my experience of car camping in California, it is only legal to sleep in public areas as long as there are no parking regulations or signs prohibiting vehicles from parking overnight. I recommend car camping in campgrounds, but if you can't find one, national forests are a good next option.
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No matter what you're driving, you can legally (and safely) park overnight for free at most Walmarts across the country.
It is not illegal to live in your car in California. I know this for a fact, because our local police have told us so. There are limits to how long a car may be parked in one place, but that's determined by local ordinance.
Some also refer to car camping as base camping or “tent camping”. The beauty of car camping is the accessibility of your tent site. Since your tent site is so close to your vehicle, there's no reason to skimp on “luxury” items that make your camping experience enjoyable.
It's certainly not illegal to live in a van, but some cities in California do have ordinances and laws that don't allow people to sleep in their vehicle overnight within city limits. Some popular cities in California that have various laws prohibiting sleeping overnight in a vehicle are: San Francisco. Los Angeles.
Different from temporary camping, the city has a vehicle habitation ban, meaning it is illegal to sleep overnight or live in a car in San Diego. It's also illegal to park an oversized vehicle or RV overnight (between 2 and 6am) on public San Diego streets without a permit.
Turn Off Your Car — Never leave your car running overnight. Keeping the engine running can lead to dangerous carbon monoxide poisoning. Make a Bed in the Back Seat — If you can, fold down the rear seats of your car to create room for your bed. If you can't, sleep on the back seats.
This number has been declining as zoning laws and city ordinances are increasingly banning overnight parking. Store managers may also not allow it. According to Walmart's website, “Permission to park is extended by individual store managers, based on availability of parking space and local laws.