What's the problem?
What do you think us solo people go through all the time... drop a load near the late afternoon, go to sleep around 9 and wake up to sit all day waiting for another load that comes at 8 pm then drive most of the night for a morning delivery. We solos have to be very flexible getting sleep - this is not a 9 to 5 world.
Time management is one key to this business, not just sleep management. It is sticking to a schedule regardless what is going on. This means getting up at the same time, eating at the same time and going to sleep at the same time. It does not mean staying up and talking to your co-driver all night.
This is a business not a paid vacation and should be treated like a business. If you are so inclined to go to state parks, camp grounds and so on and then have problems sleeping, maybe there is a problem with priorities.
Sometimes you can't sleep because you are in that work mode, other times you are too stimulated to go to sleep (to much on your mind, interested in what's going on around you, eating or drinking the wrong stuff at the wrong time). It is like a toddler, their brain processes things to learn even if they are very tired and they have to slow down to go to sleep. Adults are the same way but we have some control over this, we can make decisions to put things off and go to bed to try to sleep.
In some sleep deprivation training I took, they teach you a lot of tricks to slow you down and get you to sleep regardless of your surroundings or situation - ever try sleeping standing up. Some people are not suited for the road, they complain about the noise, the heat, the cold, the wind moving the truck. I met a couple a few weeks ago who have this great big RV expediting unit and they had it so well insulated that you can not hear hardly any noise of what is going on outside - unsafe.
I know one team, husband and wife who took my suggestion a few years back about this subject and they work in shifts, 12 on, 12 off all the time, even on the reset. the time overlaps and they have not really deviated from it. They took the attitude that this is their job, they are committed to working first, playing later and they are out 5 months home for one and back on the road for another 5. The real key to this is not thinking that they have to spend every waking moment together but that they balance out their time together. They do the tourist thing but it is with very little adjustment to their schedule, but as the lady said "we traveled all over with the kids, now we just want to make the money to enjoy later on".