I was thinking of renting a camper van and wondered if it's safe to sleep in the van. Are there designated areas where one can park and stay overnight in a van?
Unfortunately, this is not permitted:
Within Yosemite National Park, you may not sleep in your car or RV except in a campsite that you're registered to stay in (except at Camp 4, where sleeping in cars is not allowed because it's a walk-in campground). Sleeping in your car along the side of the road is also not allowed.