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I'm not sure about car free. It's a big park and there are legitimate reasons to want to drive in and park in the middle (eg families with people with little legs, blue badge holders).
I'd go with ANPR on all the gates. Enter and exit within 45 minutes - £200. 45-90 minutes £5, 90-180 minutes £10 etc. Discounts for blue badge holders staying more than 45 minutes.
Does anyone else feel that this would be the perfect time to make Richmond Park car free for good?
At the very least, single file & one way.