South Dakota Code § 31-7-17

Temporary rest stops permitted--Time limit
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No person temporarily resting in any vehicle is in violation of the provisions of §
31-7-15
. For purposes of this section, temporarily resting means stopping, parking, or otherwise keeping or occupying any vehicle in a rest area, or any portion thereof not officially designated for camping, for not more than three consecutive hours or, if the driver of a commercial motor vehicle subject to the provisions of 49 C.F.R. Part 395, as of January 1, 2009, for not more than ten consecutive hours.

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