Appledore is only £10 on peak weekends and summer time when the official is there, otherwise it's just the parking fee.
You can launch at Bideford but is more restricted on time, bit like Bude but you have the surf to contend with as well there.
Never tried to launch at Barnstable, there is Instow as well but again not tried it.
Plymouth gives loads of options, most free but some do charge, the Plymouth Authority web site shows you which is which. Fowey is fun and you pay for the parking parking which includes the slip.
Illfracombe is another option, but again tidal.
If you have a good 4x4 a number of the local beaches are launchable too
Appledore on high tide is great fun in the Estuary, no need to go over the bar, and a great area for pulling toys.
Happy to come up for a run - if I can ever find a spot in the diary to get wet