Many years ago some friends and I pottered around Devon and Cornwall with an old Anglia van and a small tent, for about a fortnight. We found the best plan was to arrive before 5pm, go straight to the police station and ask where we could pitch/park/sleep without causing offence/getting moved on/getting hassled/getting nicked.

Usually the police were so amazed at three hairy hippies actually bothering to ask that they were very helpful.