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The parking on slip-roads problem arises, I think, because it is permitted in some European countries.
Doing a road-worthiness check in a lay-by could be interesting, especially if VOSA can't get their vehicle into the lay-by in the first place!! I'm not entirely sure it would solve the problem though.
There was an attempt at re-designing the lay-bys on the A20 to prevent the more dangerous parking but the contractors got it wrong in some places when they put the pillars too far back from the curb. As far as I can tell the idea was to restrict the entry/exit width to stop trucks parking on the verge. But they just park on the entry and exit and block the lay-by completely. One of the lay-bys, designed to take three trucks, actually had eight in it when I came by last night!
It seems obvious, at least to me, that parking and facilities for truckers is severely lacking in Dover. Dover is the major cross-channel port catering for some 2.5 million freight vehicles annually. That equates to nearly 7,000 vehicles a day arriving or departing the port. Both Dunkerque and Calais manage to provide substantial free parking areas which are invariably full overnight yet Dover does not. Is it any wonder, then, that truckers will park wherever they can find a space; be that lay-bys on the A2/A20 or on local roads around town.
Where parking is unserviced then the litter problem will arise. The lay-bys are serviced, and litter bins provided at least. It's just a great pity that a dedicated parking facility has not been provided adjacent to the port. Actually, it has just occurred to me that parking areas were actually removed from the Eastern Docks to allow for port expansion, and from the Western Docks to give HMRC space for customs clearance facilities. Both these areas were well used at one time and their removal has meant that the traffic has to go somewhere else.