We've always stayed at campgrounds (with reservations) on the way down and back, but I've been intrigued by parking lot boondocking for a few years. I've always been too nervous to try it until last winter on our way back home when the convenient CGs in PA were all closed for the season...so we tried a casino for our first foray and it worked out great! Since then we've done it twice more at a
Walmart and I think we'll plan on doing it from here on out unless it is really hot and we need the AC on or something, though we could run our generator for that, but sleeping with it on isn't my cup of tea.
Way back as newlyweds we got burned not having a hotel reservation for a wedding a state away (back when we lived in the midwest, where a state away is a day and not an hour

) so we've always felt the need for reservations and not rely on the "fly by the seat of our pants" approach. But now with smart phones and technology to research locations for boondocking (or available campsites), we've backed off a little on our rule to always have reservations. However, reservations for our final destination - absolutely!