Many states (not sure about PA) have signs prohibiting overnight parking...
That said - most nights the lots are full of those doing just that.
I've done it when needed - and never had an issue.
Theory is there are more important things for LE to deal with. If they knock on my door - I was too tired to drive - just stopped to take a nap, and I'll be on my way. Haven't had to answer the door yet.
Not yet retired...
Florida (Michigan transplant)
2014 Hurricane 32A
2000 Infinity (previous)