Another place on the recommended list was Grasstree Beach.
Some way off the highway, this tiny town has NO CAMPING signs all along the beach front.
If you drive down a gravel track past a NO THROUGH ROAD sign you get to a large grassy area by the boat launching ramp just behind the beach with no NO CAMPING signs.
Apart from the caravan which used a generator all evening to provide lights and TV, we had a very pleasant stay.