I just read the item on Aires in Europe in "Beginners' Tips for Motorhome Touring in Europe" in the "Nice to Know" section.
I really must take issue with your assertion that staying overnight at these places is dangerous. It is likely to put off many people unjustifiably, because it is wrong.
I live in France and regularly stay at the free Aires all over France - along with thousands of French Camping Car owners. They are (with a possible few exceptions near big cities) safe places to stop and are often in very convenient locations. The motorway service station car parks in France and Spain are very good places to spend the night, in company with heavy lorries and commercial travellers. The car parks are well-lit and the shops are always open 24 hours meaning that there are always people around.
I have never experienced or witnessed any problems. There are many mythical scare stories, of course, that are passed around on the 'net.
Go to this site:
www.campingcar-infos.com/index1.htm to find the Aires in France. If you don't speak French, use the browser translation tools to translate it into your language.
One of the best things about travelling in France is how welcome Camping Cars are. It is usually OK to spend the night anywhere that there is not a sign prohibiting it and where you are not likely to cause nuisance or an obstruction. You would be amazed where we see campers parked up for the night!

And you won't find lots of NIMBYs moaning at you!
The big resorts (such as Vannes, in Morbihan) are very busy and do discourage camping cars - if not there would be chaos - from parking in general car parks. But outside the big towns it is much more relaxed.