Oh, I've done that! Parked in a layby behind two lorries (rule is don't park with just one lorry in case they're an axe murderer. Two is safer coz you can scream for help from the one who isn't an axe murderer 😉) It was the bleating of sheep that woke me up about 5am 🐑🐑
I did that for many nights in my Civic. Now I have a van so it's much easier but I don't like the police harassing me. Also rest stops are supposedly the most dangerous although I never felt it. and I find parking lots like at Home Depot more comfortable.