eLuSiVeMiTe
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Right but that makes no mention of pulling up in a layby and getting your head down.It is illegal with a few exceptions
https://www.trespass.com/advice/wild-camping-legal/
To hold a caravan rally you have to get planning permission from the local authority but the Caravan Club etc are granted some leeway to avoid all the paperwork, you can also get Caravan Club permisiion to open a camp site but it can only hold 5 vans.
Considering the amount of lorry drivers getting there heads down around here nightly I find it unlikely that it's illegal.
Trespassing is a different matter.