Our trip to Northern England in early June is almost here....while in the North Yorkshire Moors, we will be staying in Helmsley for 3 nights. We would like to spend one day doing a driving tour around the park, and after doing a lot of reading on this site, I've come up a day long drive that hits many of the places that have been mentioned. I would like to get your opinion as to whether my plan is doable.
Drive Helmsley to Pickering, then take the A169 towards Whitby with detours to Goathland, Beck Hole, Grosmont. Spend a few hours visiting Whitby, then on to Staithes for a short visit. Then as we head back towards Helmsley, I wanted to come via Rosedale Abbey and Hutton le Hole, however I'm not sure if there is anything between Staithes and Rosedale Abbey that we shouldn't be missing, or a "more scenic" route. After Hutton le Hole we'll head back to Helmsley.
Does this plan seem doable in a day or have I tried to fit in too much? Any other alternate route suggestions are welcomed. Thanks!