Yorkshire itinerary?

With or without a car?

One of the days I would go up Wharfedale to Grassington, Kettlewell and all the way up dale to Aysgarth Falls in Wensleydale.

On this day through Grassington non stop, it's a full day, and see below for Day 2.

Then on to Hawes for Wensleydale Cheese.

And/or go to Bolton Castle, Wensleydale.

Then on to Snaizeholme for the Red Squirrels. Your driver will know all about them.

Thence back through Ribblehead for the viaduct, visitor centre and navvies shanty town walk, returning to Skipton via Settle.

Day 2- back to Grassington for time in the village, routing via Linton Village, Linton falls and Linton Church-( 3 different but adjacent locations)- maybe walk into Grassington from Linton falls.
On to Bolton Abbey and the Strid.
See if you can get the steam train from Bolton Abbey to Embsay, have the driver meet you there.
Then on to Malham for the rest of the day.I

On the way back call into Giggleswick for the eponymous Public School and village Church.

I would like to think you could fit in Igleborough Cave as well, but don't think you have time.

I'm not sure if you are staying in Skipton or out at somewhere like Coniston Cold but on another day, without the Chauffeur go to Skipton Castle, Skipton market and an afternoon tea cruise on the canal at Skipton might be nice.I

Haworth for the Brontes is also easy to get to on your own via Keighley.

Claudia, she said she has hired a chauffer.

thejuliebeth, what are your interests? Are you more interested in hiking or historic sites and/or ruins and/or museums? That would be helpful to know.

And are you looking to stay solely in the Dales, or would you like some times in the North Yorkshire Moors?

Adding more here.

I would second a lot of Stuart's recommendations, especially Bolton Castle. It was wonderful. If you go there, make sure you arrive at a time when they are giving a falconry demonstration. It was really incredible! You can read about my visit there here, if you like.

And if you have time (and enjoy beer), there are some excellent places to get food and an ale in Masham, which is a quick 25-30 minutes down the road from Bolton Castle. I stopped at the Black Sheep Brewery there and had a wonderful meal.

If you're going to be in Hawes on a Thursday night, there's a wonderful sheep dog demonstration starting at 630pm. A local could tell you exactly but it's in a field over a bridge near the visitors center.

Happy to see Bolton Abbey recommendations…I’m staying right there. Can walk to from my hotel!

As you are at The Devonshire Arms on one of your non chauffeured days you could nip down to Ilkley in a taxi, for Betty's Tea rooms.

That should be a very nice place to stay. Well beyond my price bracket. Enjoy it.

If you wanted to you could walk one way to Ilkley on the Dales Way !ong distance footpath.

If you are that side of Skipton that makes the idea of Masham a bit better on the other chauffeured day maybe going on to Thirsk for the James Herriott museum and Helmsley on the North York Moors.

Or do Masham with Fountains Abbey + Studley Royal; or Jervaulx Abbey, and return through Pateley Bridge are other possibilities.

I recently did a wonderful day tour with Grand Yorkshire Tours. It is a small group tour, no more than 6 people in a van. It's run by a Yorkshireman who knows the area and has lived there all his life. He takes you to Grassington and Ripon Cathedral and shows the beautiful Yorkshire Dales. It is geared toward fans of All Creatures Great and Small, but anyone would enjoy it.