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Denmark has loads of campsites scattered all over the country (pic related). Here you will find basic campsites with fireplaces, occassionally wooden shelters and stuff like this. This makes it a whole lot easier to pitch your tent, seeing as there are camp sites in the vicinity of every place worth hiking/camping in.
Still illegal to pitch your tent outside of these places tho, but it's really no bother if you do it in secluded places off the path
