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It's pretty much access for any non-motorised activity (including camping) here in Scotland:

https://www.outdooraccess-scotland.scot/

In Germany, while you can't camp with a tent in the wilderness, it's allowed to bivouac ("biwakieren", using a sleeping bag to sleep under the stars).

https://www.alpin.de/sicher-am-berg/30427/artikel_darauf_mue... (article is in German)

And in hammocks! They don't touch the ground and therefore don't count.

Looks like it is allowed when not planned but an emergency.

all the keep out signs on picturesque parts of southern ireland (eg galway) are helpfully translated into German.