We mostly go Fishguard Rosslare at lunchtime or just after. As it's a 250 mile drive to get to Fishguard we stay at
https://maps.app.goo.gl/xn75Jx3ueyPoHVfv7
Makin an easy run to the ferry.
As the ferry arrives at 6 we stay at a site 20 miles from Rosslare
The Norman View Motorhome Park
www.thenormanview.com
It says motorhomes but it takes caravans as well.
The return used to be similar catching the ferry to arrive in Fishguard at 10pm and staying again at the first site but times no longer work for that.
We now come back to Holyhead and stop on Anglesey don't know where it will be next time as the last site (a private one) was rubbish.
There are quite a few CL just off the Express way, that leaves us with a big drive home but yours will be about half the distance.
Fishguard/Rosslare is a much quieter trip than Holyhead/Dublin one of the reasons we prefer it.