Yes in Singapore, but without a tent. Just laying under the sky. Camping commonly uses a tent but doesnt require it. If you sleep overnight at a beach that doesnt allow it or need s permit to do and dont have one then expect to be challenged on it.
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Sleeping on the beach at night does come with some risks and safety concerns that should not be ignored. It's important to acknowledge that not all beaches are suitable for overnight stays, and one must exercise caution.
Overall, while swimming in Singapore is generally safe when proper precautions are taken, it's important to be aware of potential hazards and to follow basic safety guidelines. By doing so, swimmers can enjoy all the benefits of this popular pastime while minimizing the risks of injury or other accidents.
Ocean air can improve your blood O2 levels, boost your vitamin D levels and improve your breathing. All of these will improve your sleep. So, there is a definite connection between the sea, ocean and salt air, and improved sleep.
Camping is forbidden but no one will bother you only because you're spending the night on a beach. As long as you respect the place, collect your waste and don't get the place dirty, it will be ok (and funny, according to my memories).