In reply to Euan Todd:
At the risk of sounding unhelpful, there are so many amazing locations and routes in Pembroke that it's hard to go wrong! Pick a random number, turn to that page in the guide and you'll see something cool
The campsite in Bosherston is basic but cheap and easy. It's really just a field with a sink and a couple of portaloos. It doesn't seem to be on Google Maps but this is the location:
https://goo.gl/maps/gSjfyxiPpZC2
Perfect location for anything you access from the Saint Govan's car park or Broadhaven, which covers an awful lot of climbing. Not bad for Range West either, if you've been to a briefing.