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We find a location that is common to all that we want to see in that area and park it in a campground and stay several days. If you are full-timing you will have plenty of time to do this as you should not be in any hurry to be anywhere most of the time.
I think what you are talking about is when just passing through a town. I removed the trailer from the TV only once for such an instance and I left it in a Church parking lot for about 30 minutes with the permission of the Pastor.
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