In reply to Chive Talkin\':
Two choices for St Govans end of things
1. Camp in field in Bosherton for £3 a night with minimal facilities but walk to the pub
2. Camp at St Petrox farm for £7 (or so), hot showers, fridges, nicer field etc but 5mins drive from pub. Although it is further from pub, it is nearer Pembroke town, useful for morning shuttle runs to shops while the crag de-greases.
Hinges, for me, on how long trip is and whether you want showers or runs to the shops.
1 night - stay in cheap field. Longer leisurely trips, stay at Petrox.