Yorkshire Dales with an Auto

Depending on how much time you have available and your level of interest, there are a number of sites you could visit in that area. A few thoughts.....

• Castle Howard
• Eden Camp - used to be a POW camp for German and Italian prisoners during WW2. Each of the huts (28 as I recall) has a different theme, and I found it extremely interesting.
• North York Moors Steam Railway - departs from Pickering and travels to Whitby. Along the way it stops at a small town made famous by another British TV show.... Heartbeat. The fictional town of Aidensfielf is actually Goathland (I believe the distinctive rail station there was also used in the Harry Potter movies)
• Whitby - a beautiful seaside town with an interesting history.

You shouldn't have any trouble finding things to do and see in that area.

If it's fans of James Herriot then you must visit The World of James Herriot at his old surgery at Thirsk.-
https://worldofjamesherriot.com/tv-locations/
This also tells you about some of the filming locations in Wensleydale, but there are other filming locations in Swaledale and Arkengarthdale (the latter includes the famous water splash).
If you've gone up Wensleydale then you must visit the famous Hawes Creamery (for the eponymous Cheese- 'Wallace and Gromit') and visit Aysgarth Falls.
I assume you are seeing on PBS the recent TV remake a year or two behind us in the UK, rather than the original TV series.
The new series was filmed in the southern Dales, around Grassington, Kettlewell and Arncliffe- another very attractive valley.
The way to do it would be York to Thirsk then onto Richmond for an overnight stop (don't miss the Curfew Bell at 8pm if staying there). Richmond is another very interesting town (you must go to the Georgian Theatre Royal there if you get the chance) then Swaledale and Arkengathdale and over the Butter Tubs pass to Hawes, stay somewhere in Wensleydale overnight.
Then down through Littondale and through Wharfedale on Day 3 (for the new series) and back to York on Day 3.
After this road trip I guarantee you will have fallen in love with the Yorkshire Dales

The Great and Small sights are spread out somewhat so you’ll get great views of the countryside. If you like stone circles then The Twelve Apostles Stone Circle,p. Also in the area are Brimham Rocks, Fountain’s Abbey, Janet's Foss, and Ingleton Waterfalls Trail.

Keighley & Worth Valley Railway - (Oakworth, Station) - used in the new series
Barden Bridge, 6AT, Dales Way, Skipton - seen in the opening
Saint Wilfrid's Church - used in the new series
The Devonshire Grassington - exterior used in the new series
The Green Dragon Inn, Bellow Hill, Hardraw, Hawes - interior used in the new series

Hockney 1853 Gallery
01274 531163
https://maps.app.goo.gl/mnpNFpgiNJoPvxBH8

Saltaire is a UNESCO world heritage site about the industrial past. There is a Hockney gallery.

Bradford is a curry capital. It doesn't require a car to reach these places as there is a public transport network covering Leeds / bradford /West Yorkshire.

The most obvious point is to fly at least one way into Manchester rather than Heathrow. Why start more than 200 miles and a complicated transfer from where you want to be. From Heathrow you will need to get into central London to catch a train to York. From Manchester there are direct trains to York from the airport and it's much closer.
And to reference a couple of other recent threads Manchester itself has a great deal to offer the visitor

Sadly you can't get into the Green Dragon at Hardraw, as it has closed due to the Energy Crisis

Wow, thanks to all of you for the great information. I appreciate all the advice and will sort through everything to make better decisions. I did look into flying into Manchester but I cannot do it directly from Philadelphia. I have a friend in London so round trip there is not a burden, but I will look at open jaw flights to save myself unneeded travel. i will recheck the Green Dragon closer to departure dates to see if it has reopened. Many thanks!