More of an airport question

The thing is my children, fly out of DIA frequently as unaccompanied minors. Sometimes after delays or them being booked on the red eye I am in need of a nap before driving the 3 hours back home. Can I take a nap in my car that is in airport parking? Or should I just keep snoozing in the terminal?
I don’t want to get arrested or cause any problems.
Not sure if airports have different rules but our home airport is Denver International.

I go to Denver International Airport About once a month and I’ve never been talked to by security so you should be fine.