Motorhomes can be parked in several Matlock car parks. See under Derbyshire Dales
Here. Camping and cooking are not allowed.
The Heights of Abraham does not have its own car park but the
FAQs give details of LA car parks.
Gullivers mention that car & coach parking is available. I've tried asking about motorhome parking in the past, for the web site, and received no response. This has prompted me to try again.
Graham