Wishing there were more overnight friendly parking areas

I really wish I could find a safe place to park and sleep in my car at night in my state. In the city I work in (delivery) it pays well but the closest rest area that is safe is almost an hour drive from where I work. I got asked to leave by a sheriff in the morning. I guess the garbage bag on the window gave it away that I slept overnight. It’s unfair I was the car that got picked that morning because I had been sleeping there nightly for weeks and remember all the regulars every night. I get it they’re frustrated with homeless and drug use at those places, but I honestly just go there at night and sleep. I don’t drink or use drugs and keep to myself. Also being a female, if I park at a parking lot and have to wake up in the middle of the night to use the restroom that’s a challenge. I sometimes have to drive for miles before I find a gas station that will let me use their restroom. When I stay at the rest area I wake up early and am gone working first thing in the morning. I hear about parking lots or parks but I never feel safe or comfortable doing that. I don’t like breaking laws or rules either so all of that sneaking around to park my car for the night makes me extremely uneasy and anxious. There’s so many people out there who have large plots of land or space but wouldn’t probably want to help me. Why would you want a stranger parking on your property? I understand. Well anyways I just want to get this off my chest. I drive 12 plus hours a day to try and get myself out of this situation one day soon. I don’t want to waste my money on cheap motels. I just wish there were more overnight friendly places.