It's very easy honestly. I always try to call ahead to be sure its allowed. Some walmarts even allow overnight parking, some a 2 you limit while shopping. You'll pass countless Wally worlds daily. And its much much cheaper to buy your food and other necessity's at WalMart. I usually go for my 30 min break in the early am so its easy in easy out.
Walmart is a truckers home away from home, and they know it.
First check your route, look for a likely town along the way, and map-search for "Walmart in This Town." Then use Satellite view to look at the parking lot. You need to find the correct street approach (Walmarts have trucks coming all the time, so that's not really a problem.) and where to park. Often the satellite picture has caught a truck parked in the big parking lot. That's where you go. Some older WM's do not have truck parking, but generally you can stop in and do your shopping. The 10 hour break should be at least a courtesy check with the WM manager.
Yup, you'll be hard-pressed to go a full day without coming across a Walmart.
The thing about Walmart, and really any big chain store is that they all have to be able to accept truck deliveries. This means they (usually) have easy truck access, and more importantly, there is always a paved area in the rear to allow trucks to either drive through or turn around.
I've parked back there on numerous occasions for restocking runs. This keeps me out of the main parking area and away from cars, and I've never had any problems. The truth is the vast majority of workers won't even care, and the ones who do won't even know what's going on. As far as they know you could be there for a delivery. If anyone ever wanted to take the time to investigate, you'd probably be gone before they could figure it out.
Now if you're planning on taking a 10 hour break it's a different story. In that case I would definitely try to ask. But if it's nighttime, you'll probably get away with it even without asking. Just don't park anywhere where you're blocking merchandise, dumpsters, driving lanes, etc.
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How difficult is it while on the road, to stop at Walmart and restock on food and supplies? Is it something that could be done about once a week, or more often? Just curious. I'm sure I will find out during my training soon. I will be heading to Indianapolis in a few weeks for orientation with Transport America. I can't wait!