Depends on your attitude to walking. 9.30 would be fine but you may have to walk a mile.
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10 miles is some serious WRC dedication to access a stage!
There's OS type maps available for the Wales stages with details of footpaths and altitude changes which are useful. 1 mile is short btw - most you walk more than that to leave the car park - and one or two have fairly steep hills to climb between the car park to stage. I'd leave at least two hours plus time to find a decent spot.
But not necessary for Sweet Lamb, which was the original question. Last year in Finland we walked a total of 40 miles over the 4 days which is the most I've ever done. We walked 10 miles on the Saturday of this year's Rally D'Italia from carpark to Monti Di Ala' spectating point and then across to Micky's Jump on Monte Lerno, reverse trip at end of the day.
If you're planning to move on past the official spectator pens then it pays to be more than 1 hour before the first car - once the safety delegate and other official vehicles are in stage, the marshals will be under instruction to stop you moving on, especially if you want to walk down the stage (rather than through the trees). I try to be at least two hours before the first car, though the nature of Sweet Lamb (unforested, open hills) means you have more freedom to roam as you can simply go out in a wide loop away from the stage and head back towards it once you're clear of the marshals and pens.
Entry list published when?