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York to Lasswade (Edinburgh)

On the countdown to our trip in May!!!!!! Would like input/advice on our sight seeing when we leave York on our way to Scotland. I was hoping to stop by Helmsley Castle and Rievaulx Abbey (about an hour from York?) then drive to (?) Hexham (2 hours?) and explore areas of Hadrians Wall, maybe Aydon Castle then head to Lasswade (about 2 hours?) I would love to see Middleham and Richmond castles too, but feel I might be pushing it already with minimum driving time of 5 hours. I know we will be rushing, but have simply had to realize I can not see all I want in a limited time, nor savor every place I have chosen to see. Any input on "doability"..suggestions. Thanking you in advance. Marna

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