I always camp unless I'm feeling ill or for a similar reason.
I haven't done the Camino Frances, just the section from Roncevalles to St. Jean du Gard and on the French Camino from Le Puy en Velay to Figeac. All very nice and 'easy strolling' mostly, for me the time to indulge in wine, food and good company and luckily for me glorious weather as well. Easy to camp as well. The Pennine Way is different, less reliable weather, more changeable as well, one can be more alone, the food and drink are different, the settings and the 'style' of it all is different, and it does make 'physical and psychological demands' on the mind and body in a way that the Camino doesn't I think. But then again, I'm biased, I'm more of an I 'want to hike in France' sort of person, except for the Spanish GR11 which I'd love to have another go at, Spain itself doesn't turn me on.
Would I hike the Pennine Way again, YES indeedy!!! Its been on my mind to do again, like Florence, around May, just haven't decided yet.