If you adhere to the unwritten rules of wild camping of pitch at dusk, be gone by dawn and leave no trace you would probably be OK.
Apparently land owners in the Peaks were sending rangers out after dark to check on unlawful camping over the last few years so I wouldn't count on it.
Frankly the whole English right to roam/camp needs legislation similar to the Scottish position.
I think you have to see it from both sides, mainly because of some of the irresponsible twats that fuck it up for everybody else.
@Grumpy_Git started
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If you adhere to the unwritten rules of wild camping of pitch at dusk, be gone by dawn and leave no trace you would probably be OK.