I sleep in vehicles a lot. Like a lot a lot. I’ve road-tripped through all 50 states 6+ times each. Have slept in my car 3 times in the last week.
I just sit in the front seat, recline it, and run the climate control for warmth or cooling. I have lots of data that a 4-cylinder car consumes 1/4 gallon per hour idling so 2 gallons over 8 hours (except a Prius is half of that). I’d expect a 6-cyclinder is 50% more. A lot less cost than a hotel room in any case.
BRING A PILLOW – a full-sized one off your bed at home.
Duffle bags or more pillows can fill the space behind the folded-forward front seats and in front of the folded-down rear seat backs for a full 6+ feet of flat space in small wagons and SUVs.
I’ve got some 2-inch-thick, 25″-wide, 78″-long CampRest self-inflating pads that never go backpacking but work well for that sort of “car camping”. Or just add a few more BPing pads to the ones you’d normally bring and stack them up.
In the back of a SUV or Subaru Outback, the cabin heat does just fine. And it finds it way out, somewhere somehow without the windows open. That’s handy in summer with bugs outside.
If I think about it, I park pointing upwind so the exhaust is on the downwind end.
The only engineering issue I ever had was after 6 hours of -5F outside Denali in a Corolla, I could hear liquid water sloshing around in the muffler – it had condensed that far down the tailpipe but it all blew out as a cloud of moisture at higher revs once I drove away.
The only legal challenges I’ve ever had were all addressed by, “I’m sorry officer, I was getting too sleepy to feel safe driving so I pulled over to get some rest.” I rehearse that speech in urban areas and what are they going to say to that? IME, “Well, there’s a rest area another 5 miles ahead” or “The nearest hotel is 2 miles down this road.” and then they leave.
Hitchhiker’s Guide’s recommendation to bring a towel isn’t wrong, but BRING A FULL-SIZED PILLOW for each person on the trip is more important, IME.