Are there RULES for VANLIFE sleeping ?

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Today's van life UK travel adventure covers sleeping in your van. Whether it's a scenic park up looking out to sea (complete with dolphins) and yes we have had one of those, to sleeping on a petrol station forecourt.
What rules do you go by when choosing yourself a sleep spot?
I tell people I sleep anywhere but in reality I'm actually quite fussy about where I sleep.
There's lots to consider such as road noise, people noise, how level the van is and if there's somewhere close to buy some milk in the morning.
I hope you find this interesting and please let me know in the comments what van life sleep stories you have.
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