I've always understood that the land reform legislation permitted 'wild' camping....
But excluded doing so in a motorised vehicle... Though by and large a blind eye was turned.
The 2003 Act includes three main provisions: the creation of a legal framework for
land access, the community right to buy, and the crofting community right to buy. The first part of the act codifies into
Scots law the right to universal access to land in Scotland. The act specifically establishes a right to be on land for recreational, educational and certain other purposes and a right to cross land. The rights exist only if they are exercised responsibly, as specified in the
Scottish Outdoor Access Code. Access rights apply to any non-motorised activities, including walking, cycling, horse-riding and wild camping. They also allow access on inland water for canoeing, rowing, sailing and swimming.