I hired a campervan and spent a couple of weeks driving around Tassie in February this year. I mostly stayed in camping/caravan parks but I did spend one night just parked in a car park on the side of a road. I didn't have any problems but I'm not sure what the laws are relating to this.
One piece of advice I would offer in regards to driving a campervan around is that most of the roads are quite hilly and windy (especially in the west) and so you tend to take longer to get anywhere than you normally would for the same distance. Also the hilly/windy roads seemed to cause the van to drink a lot more petrol than I would have thought.
Awesome trip though, I highly recommend it! :-)
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