Praesidium/Praetorium, now known as Bridlington was a possible fort and port.
Reference is made to the possible location here of a Roman presence but it is thought that any evidence has since eroded by the sea due to the Westward shifting of the coastline. That is, that in the second century the coastline was further East where any fort or port would have existed.
Notably there are remains in Scarborough exibiting similar coastal erosion problems.
Wikipedia states that a Roman road has been found leading into the town and that Roman coins have been found. It also states that Bridlington was probably already used as a trading port prior to the Roman invasion.
Bridlington Bay has also been reffered to as Gabrantovicorum.
see Roman Britain
see Wikipedia
see Flamborough: Village and Headland edited by Robert Fisher