Chris - this is what I have been told by more than one policeman...maybe it's policed differently where you live?
I see your link relates to urban areas - maybe its different in a country area?
As I've said I was told this by more than one policeman - so I tend to go by that.....also where I live its a place with very narrow streets, not meant for cars when they were built and everyone has no choice except to park two wheels on the pavement or no emergency vehicles would have access along the street.
Our police let it go as long as there is enough space to allow a pushchair to use the footpath......
So all in all - I don't consider I'm wrong......