You’re never going to see Boris come upto the podium and announce bikepacking is allowed, for the blindingly obvious simple reason that it’s illegal in England anyway.
“wild camping” is not illegal in many parts of England (and bikepacking per se is definitely not). Wild camping without the landowner’s permission may be unlawful (other than in Dartmoor). The distinction is subtle, but then this thread has turned into people trying to subtly read the rules the way they want.
if you want to believe it is only because they don’t want to encourage tresspass then why have the rules for sailors (agreed with the RYA) not permitted people to sleep on board their own boats (which is normally entirely uncontroversial/legal at anchor)? The RYA is a fairly powerful lobby, with plenty of tory voters and members in influential places – so its unlikely that nobody thought about it.