There is a small free car park just towards the end of Watling Street, if it's full use street parking, however park responsibly and do not obstruct junctions or driveways.
There is a public footpath that continues off Roman Walk where you can TOAL which is not on the National Trust/English Heritage site. You can also use the nearby church but check you won't be disturbing anyone.
As this is owned by National Trust and in stewardship of English Heritage it's a bit of a double whammy! I'd advise only flying when the museum is closed to avoid any NT/EH staff. When I flew there was a local busy body about who seemed to enjoy stopping and talking to everyone for what seemed an eternity. People do pop up from time to time to walk around. I used a Mini 2 and no one visiting the site seemed to even notice it. I think they assumed the props noise a nearby grass strimmer or something!
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Co-ordinates: 52.65715, -1.856746 • what3words: ///pursue.cakewalk.warns