I thought the streets in TV were public streets and you could park on them as long as there weren't any No Parking signs. As for Walmart, we regularly go 'Wallydocking' when traveling in our RV. Wallydocking: Boondocking or dry camping in a Walmart parking lot. I have seen cars and even an RV towed after weeks in the same spot, though. I would still move your friends car a couple of feet every couple of days so that it doesn't look abandoned.
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