There are tables but I would take a nice blanket and sit on the grass

No unfortunately it does not cater for Motorhomes, I don't know of anywhere in Lichfield that does.

I don't recall seeing anything which would impede a wheelchair user. The paths in the park are wide and in good condition. Can't remember any steps which might be a problem. We parked elsewhere and were on foot so sorry, can't really help with cost of parking; if you go to the visitlichfieldhistoricparks website (sorry, Trip Advisor won't let me put a link in here so Google it if needs be) you'll get what information is available and a phone number for enquiries. Oh let's be daring and see if they let me give you the phone number: 01543 308867. Good luck.

The peddle boats and swans appear at bank holidays,not sure about costs.

yes you can.

Yes, there are lots, they even pop up on the main roads!!