Scotland is a much better example of "right to roam" than England.

Very generally, England allows a right to cross property on foot. But, that doesn't include camping, cycling, etc. The list of allowances is relatively short and exceptions relatively long.

Scotland allows all a lot more freedom to roam, including cycling and camping. I don't recall exactly how it's codified, but it's approximately a default right to access, with limited exceptions (close proximity to homes, farms with active lambing, estates during hunting season, stuff like that).