https://www.gov.uk/foreign-travel-advice
https://www.gov.uk/guidance/coronavirus-covid-19-travel-corridors
Double check for yourself but this seems to be the situation:
"Private vehicles
You don’t need to self-isolate if you travel through a non-exempt country, territory or region and you don’t stop there.
If you do make a stop, you don’t need to self-isolate if:
no new people get into the vehicle
no-one in the vehicle gets out, mixes with other people, and gets in again
You do need to self-isolate if you make a stop and:
new people get into the vehicle, or
someone gets out of the vehicle, mixes with other people and gets in again"
So it sounds like you can get out of your vehicle if you don't mix with other people which presumably means maintaining social distancing. That probably means sleeping in your vehicle. Presumably you would be questioned and you would have to convince them about how you avoided mixing with other people when you bought food or used the toilets and where you slept.