Driving to Spain from UK.

It's complex and you need 'the correct paper work', if you are moving residence to Spain and proof you lived in UK long term no duty, if not, the value of goods subject to Local VAT IVA. You need all the paper work for port customs. Good luck. 

I have done this exact journey more than 30 times (both ways) in a van from 2008 to present, carrying a large variety of goods, including items similar to what you describe.

I have never once experienced any problems or delays, and yes, I have, on occasion, been checked at the ports, ferries, etc.

It is quite common for people to bring household items from the UK when relocating to Spain, and vice versa, when people return to the UK after living in Spain.

Enjoy your journey.

UK import checks checks were delayed due to lack of infrastructure   https://www.ft.com/content/880e0687-62fc-4a55-9c0f-d0c5fb874dc9

I think might be active now, as for direct to Spain into EU, at ports Bilbao and Santander, I have had household goods imported that needed correct paper work, as my post, no idea how carful customs are at Calais right now and other ports.. I would not be fair to tell Steve, 'you do not need the correct customs paper work and inventory', only to find he has a problem. 

https://www.edwardseuropeanmoving.com/customs-requirements-when-moving-household-goods-to-spain/

                        Thank you everyone, this forum is great for advice for folk like me. We have had terrible problems sending parcels from the UK to my daughter who lives near Velez-Malaga, and to be honest, from what people are saying, the toll fees, fuel, B&B, Ferry/Eurotunnel, etc, driving down seems to be a lot of hassle and expense. I think we'll fly over and buy stuff in Spain, it might turn out to be cheaper. 

                        Once again, thank you everyone, I really appreciate all your help and advice. Steve and Belinda.