B6160, BD23 6BT, Skipton
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This is a free roadside lay-by that is slightly busy during the day but quiet overnight. It is not quite flat, but suitable for sleeping, and less than 1 mile from pubs and amenities in Burnsall. The town has cafes, an ice cream parlour, a park or green, and a river for paddling or swimming; public toilets are about half a mile downhill, with donations recommended.
From travellers' reviews
Listing copied from our source, 52 days ago