As has been said the rules re motorised vehicles apply to ‘right of access’. So long as you leave your vehicle on the road and walk/cycle/canoe the last bit you can camp most places (within reason) I.e. no gardens or fields with crops/animals… common sense stuff.
If you’re not used to wild camping then please do a bit of research especially about campfires and properly burying your poo.
I often wild camp when hiking. If on the bike, as said above, I tend to use campsites.
For the facilities you get they’re very reasonably priced, close to a pub, and you get to meet other bikers.