Lol.. I did that in Waterloo, Alabama, on Pickwick lake. I mean the grill the chair, the whole nine. I slept in the back of my truck, no problem. A couple of weeks later, I pup up a tent. You woulda' thought I had committed a major crime.
They had a sign about the size of a car tag that said no camping and I didn't see it. The Waterloo police department must have been really bored.