When fishing Dunstanburgh Castle I've always parked in Craster in front of the houses facing the harbour or were the pots are stored,if your there early enough there's always a space to get parked.Its a most enjoyable walk to the castle.
Parking at Embelton Golf course is the more safe option rather than Dunstan Steads, but I don't find it any easy or shorter distance to walk. Dunstan Steads drove there once and the amount of broken car glass was enough for me to turn around and head for Craster
Fishing Cullernose Point I've always parked in the lay-by next to the public footpath sign and emergency telephone this in my opinion is the shorter of the to routes,the other being as already stated parking in Craster driving past Robinsons Kippers and The Jolly Fisherman and the play area.The Bonus of this is on route to Cullernose Point there's marks you can try on the way.