You could use the Little White Bus to and from Garsdale Station to stay in Hawes for a few days and then stay in Skipton or Grassington for the other days.
Transfer Garsdale to Skipton on the train.
The LWB now has an improved timetable just started- https://www.littlewhitebus.co.uk/wp-content/uploads/2024/04/Untitled-design-2024-04-04T093449.169.png
(The connections look tight, but the bus waits for a slightly late train and for anyone who he can see walking along the platform towards him- a few weeks ago I had to wave him away when I got off at Garsdale to visit Hawes Junction Chapel, so didn't need the bus).
From Hawes take the LWB down dale to Leyburn from Hawes-https://www.littlewhitebus.co.uk/wp-content/uploads/2024/04/Untitled-design-2024-04-04T093624.575.png
Hawes depart 0917 Leyburn arrive 1010, depart on Hodgsons service 159 at 1040 to Middleham,
come back at 1237 or 1617 which have Leyburn connections to Hawes at 1435 and 1720- https://www.hodgsonsbuses.com/service159.html
(Until yesterday the 159 was run by Dales and District/Proctors but has changed operator)
Skipton to Grassington and up dale now also has a much improved bus service (started 2 weeks ago)- https://www.transdevbus.co.uk/media/feodm530/240312-72-72a-and-72b.pdf
