Many, many truck stops have Churches in them, either inside the building or in a Pup trailer outside.
I have parked my semi on the road outside a church parking lot and walked up to the church, they were always glad to see me. I wouldn't want to try to park in the lot anyway, it's hard to tell who would park their car in just such a way you couldn't get around them, and be stuck there for hours. Avoid the parking lot, just park at the nearest place outside...generally a short walk.
I have also seen signs where then have vans from the truck stop to the church. The hardest part is being in the truck stop at the right time if you roll like I do, 7 days a week.
Http://www.truckercountry.com/faith.html
Check this website out. It will get you started. But Daniel said it best. 1on1. This is a time and career where you can truly have a personal relationship with God.
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I know for a fact that my church wouldn't accommodate a truck. I wouldn't even be able to get in there!
And for those of you who haven't been to Elk Mountain Rest Area in WY you're missing out badly. Park and go on the dirt trail that you pass when you drive to your parking spot. There's sometimes deer there and elk. But if you keep walking you'll end up on a hill full of small white/grey rocks. It's one of my favorite places all time and definately the most calming.
HOS:
Hours Of Service
HOS refers to the logbook hours of service regulations.