Is it legal to sleep in your car in the UK? The same rules apply for sleeping in your car, as for wild camping. It is legal in Scotland and some parts of Dartmoor. However, if you are respectful and use common sense, then it is generally tolerated at other places as well.
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If you are the driver in charge of the vehicle it is illegal to sleep in it 'on the public highway' this includes laybys! Even if you take keys out of ignition, sit/lie in a place that is obviously not the driving seat, it is still not legal.
It is legal in Scotland and some parts of Dartmoor. However, if you are respectful and use common sense, then it is generally tolerated at other places as well. A car camping awning or rooftop tent will get you a lot of unwanted attention, so I would stay away from these unless you are in a very remote area.