Visa-free visit and re-entry to the UK

I am an NZ passport holder travelling to the UK.

I understand that I can get 6 months visa free access there.

But, can I leave the country and return again within the six months?

I haven't been able to find any info about this on the UK immigration web page.

I intend to hire a car and visit Ireland via the Holyhead-Dublin ferry, and return to the UK in Scotland via the Belfast-Cairnryan ferry.

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