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as always, check https://www.atob.org.uk/bike-rail/uk-bike-rail-restrictions/
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I used London to Penzance service a month or so ago. Pre booked and no problems. Probably aided by the fact that I got on where the train originated in both cases. On the train down there were plenty of people with large luggage that were eyeing up bike slots for their luggage
Friend managed to get her bike on without prebooking but think she was helped by delayed service which meant that staff weren't checking bikes for reservations
Penzance to Edinburgh? Anyone have first hand experience? Loaded touring rig.