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.
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At a campsite, you are camping, and therefore it is legal to sleep in your car at a campsite. You will have to pay a campsite fee if you want to stay at a campsite, but you will also have access to toilets and showers.
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.