I'm ready to be corrected, but as I understand it, they don't have "truancy sweeps" as such any more, where police and welfare officers will all be out on a particular day to try and catch absconders, though some councils do have a surge of enforcement from time to time, usually as a warning to others and tied in with articles in the local press complete with quotes about how disgraceful it is that parents take kids on shopping trips when they should be in school.
You might be stopped at any time by police/attendance people if you are out during school hours. You aren't committing an offence, since your daughter isn't registered at a school. So most people would recommend you simply say "we home educate."
What happens after that depends on the attitude of whoever stopped you and whether they understand what you are saying and whether they want to fill in a form with your name and address on, or to check you against a list.
You don't have to give your name and address to welfare/attendance people and you don't have to give your name to a police officer unless it is made clear to you that you are suspected of committing an offence, which requires you to give your name.
Some people carry little laminated cards or have an information sheet which explains about home education. This is seen as neutral.
Other people have ID type cards with their name on. This is perceived as less neutral because if you AREN'T known to the council and you present this card, it will flag you up and will probably bring attention from the home ed people, and if you ARE known, it will implicitly endorse the message that "real home educators" have an ID card or are on a list or are otherwise able to "prove" what they are saying.
What you hear about are the rare horror stories. People DON'T talk about being out every day and NOT getting stopped by anyone.
I home educated my son throughout the whole of "compulsory school age" and we were in the city centre several times a week, without anyone ever stopping us.
For me, it only really becomes an issue when your children want to go out and about on their own during school hours.