I’m much more likely to pay $60 for an overnight stay in a park while on the road than boondock these days if those are the choices. I’ve had a lot of good experiences boondocking (and one bad one in an otherwise good Memphis neighborhood) but with the way society is going and the stories I’ve heard and read, its just not worth it. I’ve also seen some pretty marginal Walmart parking lots, so I’m disinclined to do that. I’m just a lot more risk averse these days and I can afford to be, so I look for secure, no-hassle places to over-night while on the road.
My practice is to start looking for a decent CG (RV park, State, County or City CG, etc) about an hour before I want to stop. And I never use any camping Apps either - just google maps and my Garmin 890. Those two sources have plenty of options. I also have a KOA membership, and while the membership is cheap (~$70 ?), and it give me a small discount, KOA CGs are usually 20%+ more expensive than local privately owned RV parks for the same amenities, so I don’t use it much.
I’ve been traveling about 20K miles/year and never been unable to find an acceptable place to stay, although at times I’ve driven through the night by choice, or cat-napped in rest stops when ”on a mission” to get somewhere. Sometimes if its already late, it doesnt seem worth it to spend $50-$60 just to park when I don’t need hook-ups. But these days I’m much more selective about where I’ll stop. I’m ok with parking with the semi’s in a turnpike rest area, but usually it doesn't come to that.
Also these days I dont usually drive more than 400 miles per day (getting lazy) so that means I’m stopping in late afternoon with time to set up, take a break, and enjoy wherever I am, and also not rushed to leave early in the morning. Spending a little more time in a CG makes it more worth the cost. I’m doing another cross country run in the Fall, probably two months on the road, and I just see no need for expensive memberships.