Looks to me like the van is parked on a right of way beside the main road not at a campsite.
As others have said, dispersed camping. That is the advantage of van camping. The Class A in the video couldn't find a place to park, in that area. The van can just slip into a wide spot on the side of the road. It could fit into a normal parking spot at Walmart, or park on the curb in your neighborhood and get a nights sleep before moving on in the morning.