There are frour warning signs about overnight parking / camping around the carpark at the pier. I don't think the locals would bother you but with the caravan and camping park so close they may not be too happy about people staying just outside their place. What about the end of the road past St Margarets ? I'd be more inclined to go to Kilmore, more to do / see, chipper, pubs, restaurant. Also a very well stocked ships chandlers, fishing gear, stainless steel bits and pieces, lots that you could use in the motorhome. Hard to come out of there without spending money. Hope this helps a bit. Enjoy the weekend.