Keats-Rohan in her Domesday Descendants p. 1066 says that the founder holder of Sampford Peverel in Devon was Hugh Peverel who was setablished there by his aunt, Matilda, the eventual heir of the Domesday tenant-in-chief, Ranulf Peverel.  As yet a connection of this Richard to Hugh, who probably died in the mid twelfth century, has not been found.

K-R, DD 1069, says that Hugh’s probable son and heir was William Peverel de Sanford.  In 1212 Hugh Peverel held the property, succeeded by his son William who is recorded as holding the property in 1238.  We are getting closer to this Richard.
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