The reason I leave late in the afternoon, and spend the first night at my Wal0mart in Paris, TX is because of my sometimers disease. Sometimes I remember, most times I don't. So staying at Wal-mart the first night, I usually walk inside about three times for purchases before I leave. Once I get to my farm, where I boondock, it takes an hour out of my way to go pick up what I forgot.
Hopefully, the more I do this RV thing, the less I'll need to spend that first night to pick up what I forgot. I've only been at this since July of this year. But if there was a campground right next door with full hook ups, I definitely would use the CG and walk to the Walmart the first night, then leave later in the morning.
When I just stop in the Walmart parking lot that first night, I feel an obligation to leave shortly after I wake up, even though, the Walmart always makes me feel welcome. When I'm at a CG, I enjoy a lazy morning before I leave. This relaxed attitude is what I want the RV to be all about.