Many years ago, my DH did not believe in getting motel rooms. He believed in driving until the wee hours and then pulling into a rest stop or other vacated space and sleeping in the car.
Once, we camped under a tree at a rest stop. In the morning we discovered it was "the bushes" everyone used.
Once we were on the way to visit his parents. Our one-year-old baby was screaming in the backseat, I had morning sickness, and we pulled over and tried to sleep parked outside a Circle K. In the morning, he went in and got breakfast: Twinkies and chocolate milk. I was violently ill.
I told him that thereafter if we could not afford a Motel 6, then we could not afford to visit his parents.
He bought a series of mini-motorhomes, in which we traveled the country. Lots of work for Mom, but better than camping in the toilet.
Now we stay at Motel 6, which is fine with me. I don't have to cook, wash dishes, roll out sleeping bags, wash clothes in a dishpan, etc., so it's an improvement!
And that is my roughing it post.