This article has highlighted that I currently brazenly break the law:
It also highlights that the law is under review (which I didn’t know). The state of play is summarised here:
We expect a Rule amendment to come into force in 2021. To support the changes, we will prepare an implementation plan that will include details of any transitional arrangements, and a national public information and education campaign.
From Accessible Streets | Ministry of Transport
What the actual changes are and when they will be implemented is a bit murky. This seems to be the latest draft of the new legislation: