A few facts.
While farmers can charge for their private land, there is nothing to stop you standing on the side of the road to watch the race. TDF is free to view. ASO are absolutely militant about that.
Wild camping is iffy, scout your place ahead of the time would be my advice, and have a back up. Cars will be towed. Believe it. We don’t have the wide hard standing verges like the french and people are cretins.
Residents do not have permits, lots of rumours going about, that one isn’t true. Excempt vehicles are Emergency services and organisers.
Here’s a fact though. Bikes are allowed on the route until ~ 30 minutes before the caravan. We cyclists have the perfect closed road to get to where we want to be on the route. The route itself.
Not everyone is ripping people off with camping, but many are providing temporary camping facilities on pop-up campsites, there is a cost to that. Pretty much every portaloo in England and Scotland will be in Yorkshire next weekend, along with most of the big screens in the country. Theres a cost with that.
For North yorkshire check this site, it has EVERYTHING on it.
http://www.northyorks.gov.uk/article/28353/Grand-dpart-2014
For Harrogate http://www.visitharrogate.co.uk/tdfinfo
For other areas check local authority sites.