We've done it a time or two in transition to our next destination. It's parking lot stopping, so it is what it is. We ask a manager while in shopping if it's ok to park overnight, and in the few we've been at, it's never been a problem.
Just be aware of local ordinances that prohibit it. They have had signs in the parking lots warning of that if it's applicable.
Salem 29RKSS Pushing a GMC Sierra 2500HD!
Gotta go campin!