My husband and I are traveling to northern England in September of this year. We have three weeks, of which we plan to devote 8-10 nights to the Yorkshire Dales and North York Moors national parks. We are looking for two or three towns or villages in which to stay - preferably picturesque places with at least one or two casual pubs or restaurants and access to good walking. By good walking, I mean walks/hikes of 5-10 miles with beautiful scenery, possibly passing through nice villages. We are willing to take short bus or train rides to access good hiking, but prefer to just walk from where we are staying at least one day of each stay.
We really, really don't want to rent a car. In fact, we have pretty much made up our mind that we will not rent a car. I know we won't be able to see as much without a car and that is okay. (We have rented a car in the UK several times, so we know what it's like.) We will also be visiting the Lake District, Hadrian's Wall, Durham and Edinburgh.
I would appreciate any recommendations. Thank you.