A trucker's atlas might be what you are looking for... Or the book "The Next Exit" which shows most everything the freeway near the exits, including what you are looking for
Microsoft Streets and Trips, or Rand McNalley's Street finder or (Can't spell the company name) Road Atlas, or any of the equivlent computer programs coupled with the map overlays from the Fleetwood Owner's forum site IS what you are looking for.
Go to any truck stop and get The Trucker's Friend. There is also an RV edition, The RVers Friend, that has some additional information on state and federal parks, but you'll have to go to a well stocked RV store to find it, or order it online.
The one we use a lot is the RVer's Friend because it lists truck fuel stops for other highways besides Interstates. It lists overnight parking, dump sites, state and national parks, rest areas with dumps, zip codes and Corp parks. It will tell you if a truck fuel stop is RV friendly too. Their website is: www.truckstops.com
I pretty much plan 2 hr breaks when traveling. There's generally a Flying J within 2 hrs of anywhere. Besides, Wouldn't know how to drive off and leave my Lovely Wife anywhere other than the Flyikng J.