Driving Charleston, SC → Queens, NY — Safe place to sleep in my car?

I’m leaving Charleston around 3 PM and will be driving up I-95 toward Queens. I want to stop somewhere at night (NC/VA area) and sleep a few hours in my car instead of getting a hotel.

Any tips on safe rest areas, truck stops, or places that allow overnight parking? Also any tips for solo car sleeping or tips in general?

Thanks!