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Walmart generally allows it, but if local ordinances don't, you can't. You can't in the Mountain View Walmart, I assume for that reason. I ended up there once on an 8 month road trip and they asked me to leave.

But there are so few good places in the valley that they may have had to disallow it in order to not become an RV lot.

Many Walmart’s have banned this type of activity due to people dumping raw sewage and trash everywhere. A few stealth camping YouTube channels talk about stuff like this.

During the boom, the Williston ND Walmart had to end the practice, but other Walmarts still allow it.

This has actually changed and a fair amount of Walmarts don't allow this anymore. Which is sad because it was a big ideal of the founding of Walmart.

Wal-Mart likely intended for you to stay in the lot overnight after some shopping during your trip, not live there. Which is why a lot of Wal-Marts (or by new city ordinance) don’t allow it anymore.

Shit, I have sleeped in at least 15 walmart parking lots over the last year, and I have never had a problem.