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Stopping at red lights is not required by law unless they’re flashing
MGL Ch 89 § 9 Except when directed to proceed by a police officer, every driver of a vehicle approaching a stop sign or a flashing red signal indication shall stop at a clearly marked stop line, but if none, before entering the crosswalk on the near side of the intersection, or, if none, then…
It is prohibited to sleep in a parked vehicle.
11.04.030 Sleeping in vehicles–Prohibited in public places. No person shall sleep in any automobile or other vehicle parked on any sidewalk, street, alley, or other public place, including any approved private street or right-of-way, within the corporate limits of the city. (Ord. 15 § 1 (part), 1982)