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Sleeping in a motorhome in Hungary

The three legal facts are distinct: parking, sleeping inside and camping. The mistake that costs money is assuming that the second follows from the first.
The regulation for this jurisdiction has not yet been verified against a primary source. What has not been checked is not published.

Municipalities by initial

The signage on site and the local authority prevail. This reproduces the written rule as at the date indicated: it is not legal advice or an authorisation.