I try to plan in order to avoid unexpected situations - so far I've been lucky. Those times when I've needed to be away from home I've planned to either camp out with relatives (guest room) or I stayed in a hotel/motel.

Many years back I slept in the truck simply because I over-estimated my ability to put off sleep. Pulled over at an interstate rest stop for 5 hours and then back on the road. A hotel was just across the interstate from where I'd had dinner so it would have been easy to stop, but I chose to press on.

Since that bad choice, I've stopped and used that hotel as a rest stop a few times, the hotel has an excellent restaurant.

One issue in planning is how much time I've allowed for a certain trip. In the past I tried to drive in one day (literally 24 hours) what should done in two or even three days. Weather/season being an issue because driving through some mountain passes in winter can extend time on the road. Now that I've experienced those delays, I plan for it.