I recently went searching for the original ‘beacon’ of Beacon Hill on the Chattenden/Upnor border.
The beacon is a circular mound - with a diameter of around 30 metres. A WW2 pillbox was built on the 6.5 metre-high scheduled monument, but previously there would have been a fire basket or brazier (on a pole) on the top. The mound appears on maps as far back as 1570.
The mound is on private land, but you can walk near to it - just walk along public right of way RS116 at the end of Beacon Hill Lane.