As above really, is there a resource where I can find all the "off-road" style lanes in the UK where I could legally drive a 4x4?
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They are marked on OS 1:25K Explorer maps as "Byways open to all traffic".
But it's a good idea to research your route beforehand as some (like the Monk's Trod) are now closed by traffic regulation orders - primarily because of the damage caused by off-roaders.