A 10-minute amble along the coast led us to the chocolate-box fishing village of Aberaeron with its rows of colourful houses.
My brood – Max, 15, Rosie, 12, and nine-year-old Freddie – found the harbour walls perfect for crabbing.
An ideal place to take in the view is the cool Harbourmaster Hotel’s bar and restaurant on the quay.
We kicked off our meal there with a plate of mouth-tingling oysters and crispy cockles.
I followed with a flavour-packed seafood risotto while Tim opted for the delicious crab, chilli and garlic linguine.
The food was so good we returned the next day for a bang-on breakfast.
Back at the campsite we got to know our motorhome. It was powered by an electric hook-up, had running water and included our own gazebo to relax beneath.
Two sofas converted into double beds and a third bed descended from the ceiling at the push of a button.
There was a tiny bathroom with toilet, basin and shower, and it offered plenty of storage space, too.
In transit, the children sat around a table on the middle sofas, which had four seatbelts fitted.
Next we moved to buzzing New Quay to visit the Wildlife Trust’s free-to-enter Cardigan Bay Marine Wildlife Centre.
The bay is home to about 250 bottlenose dolphins and we watched two pods from the harbour with binoculars.
For an even better view we hopped on board a Dolphin Survey Boat Trips vessel (£20 adult/£12 child for two hours).
Our base for the night was delightful Morawelon campsite in Parrog, which has knockout views.
Next day we headed to Preseli Venture near Mathry to try out coasteering – scrambling across cliffs and plunging into the sea (£52 adult/£42 child for half a day).
Kitted out with wetsuits, helmets, gloves and buoyancy aids, we headed to the coast near St Davids. Each jump grew higher or more complex, leading up to a 20ft leap. In between, we swam into tunnels and were tossed around in swells. All ages and abilities can enjoy it.
For a couple of nights we moored up alone alongside the coast for some “wild” camping, running off gas cylinders. A short walk away lay St Davids – Britain’s smallest city with gift shops, craft workshops, cafés and a grand cathedral.
We popped into St Davids Kitchen, a cool bistro serving locally sourced food.
We had lovely moist crab, melt-in-the-mouth lobster with garlic butter, capers and samphire, plus beautifully tender St Davids Welsh Black beef.
It was a magnificent taste of the Welsh Coastal Way – in more ways than one.
GETTING THERE: The Wales Coastal Way runs along Cardigan Bay between Aberdaron and St Davids.
BOOK IT: A six-berth motorhome from Pronto Hire in Caerphilly is from £385 for three days or £596 for seven.
Book at prontomotorhomes.co.uk. For more see visitwales.com
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