Are you allowed to park and sleep in parking lot for few hours in a car?or does it have to be an rv

I don't believe you are allowed to sleep there regardless of what you're driving.

If you're not pitching a tent to go for it I'm sure nobody will bother you

I don't think sleeping in your car for a night would be a problem.

Not true. We have overnight parking for trucks and rvs. I have never had anyone ask about sleeping in cars. I know some of the employees nap on lunches.