You have the same problem coming north we have getting to the Peak district. It takes hours to cross keeping of motorways and major towns.
I make a days riding just doing this section, if I want to go further I just accept I have to use the motorways.
The easiest corridor between is to travel from Sheffield to Skipton. Sheffield - Stocksbridge -Holmfirth-Meltham-Ripponden-Hebden Bridge-Oxenhope-Sutton in Craven-Skipton. Its 60 miles and will take about 2-1/2 hours depending on traffic. Some very nice bits of road in that route, but unfortunately and equal amount of frustrating roads and tedious traffic.