Daytime parking for Motorhomes on the coast?

Hello there! We are new members and first time owners of a little motorhome (Elddis Autoquest Boxer). We are loving the whole experience but have very quickly discovered that motorhomes are not always popular in coastal towns. Can anyone give feedback/tips of places you can park up for the day, (not overnight) by the beach without feeling like a leper! We don't mind parking fees and we don't mind which coast.  Many thanks.