Two of us in a van (extravagently painted by hippies!) toured the US for a couple of months one winter about 8 years ago. Parked in rest stops occasionaly, parking lots some, roads some, forests some. Only hassled once, but not asked to leave. Few times cops would come by and run the plates and then be on their way without a knock on the door.

We slept 2 people in this normal sized van with one fold out cot and one permanent bunk. Coleman folding propane stove, couple pots and a pan, 5 gallon water bucket with spicket and a cooler to keep food from freezing and oils from thickening too much. HEAVY sleeping bags and layers of clothes for sleeping.

And winter is a great way to beat the crowds! We had Arches to ourselves, it was beautiful with a dusting of snow, red sand and rock, evergreens and a deep blue cloudless sky!