You're supposed to call and ask management at any of the Walmarts before overnighting.
There are a couple of police vehicles that I have seen from time to time in that parking lot. I believe you would be okay if you parked on the side closest to I-295. You would be secluded, & not to mention safe there also. Remember, it's usually easier just to ask for forgiveness as opposed to asking for permission. Are you aware of any Walmart policies in any other state that allow for overnight camping/loitering?
No, no need to do so since it's 24hrs open.
Thanks! Your answer is awaiting moderation.