I’ll never forget the drive down to Saundersfoot – sat nav insisting we were nearly there, then bam, we took a wrong turn onto some narrow lane that had us convinced we’d ended up in the middle of nowhere. Turned out it was just a cheeky shortcut through the Pembrokeshire Coast National Park, but with hedges towering over us and not a soul in sight, I was half-expecting to bump into a herd of wild ponies. My other half was less amused, fiddling with the map app while I cracked on about how this was all part of the adventure. By the time we pulled up, though, that little mishap had me buzzing with anticipation – what other surprises were waiting?

First impressions? Spot on. It’s this elegant family cottage tucked away in Cosheston, just a stone’s throw from Pembroke Dock at 4.4 miles, with stunning views over the Cleddau Estuary and a cracking hot tub to boot. Perfect for us lot, with all the bits like a travel cot, highchair and stairgate that make self-catering a doddle. Stepping inside felt like a proper treat – that open-plan living, kitchen and dining space is stylish as anything, with an electric fire chucking out cosy vibes. We dumped the bags and cracked open a bottle of fizz, proper chuffed.

But the real magic of the trip? Stumbling on those hidden gems by pure accident. We’d planned the usual Saundersfoot suspects – beach strolls, maybe a chippy tea – but getting lost turned out to be the best bit. First off, that botched drive led us to a quiet spot along the estuary path, away from the crowds. No tourist traps, just us, the water lapping gently, and seals popping their heads up like they were saying hello. I sat there with a brew, thinking how often we rush about and miss this stuff – a proper moment of reflection, innit? Meant I appreciated the simple things more, like not needing Instagram validation for a cracking view.

Next day, we parked up near the harbour thinking we’d hit the main drag, but wandered off down a side path instead. Ended up at this tucked-away cove you wouldn’t find on any app – pebbly beach, crystal water, and not another human in sight. We spent hours paddling, building lopsided sandcastles with the kids, laughing when the tide snuck up and soaked my trainers. Pure joy, that. Later, looping back through the lanes, we accidentally discovered a little family-run café in a village nook – best cream tea ever, scones still warm, and the owner chatting about local legends like we were mates.

Evenings were bliss in the hot tub, estuary twinkling under the stars, swapping stories of our “lost” finds. One night, we got turned around again on a walk and found this secret lookout point – panoramic views over Saundersfoot Bay, sheep grazing nearby, sunset painting everything gold. I had a quiet chuckle to myself: here I am, daft enough to get lost twice a day, but it led to the holiday’s highlights. No regrets.

Saundersfoot’s got its lively spots, sure, but those off-the-beaten-path discoveries – born from a dodgy sat nav and a wanderlust spirit – made it unforgettable. If you’re heading that way, ditch the plans a bit. You might just find your own gems.