If you are looking for places with a choice to eat, I’d look at:
Rochefort (not to be confused with, La Roche en Ardenne, which itself has more than one or two) or Bastogne or Spa or Marche-en-Famenne. But all might be useless if you don’t intend to be anywhere near the places in the evening.
Sometimes it really is just easiest to open a Google map, then zoom in and out a bit to get a feel of the bigger towns. Then insert the name of the town into Google again and ask it for pictures. This will give you a pretty accurate feel for the place. Then ask it for restaurants and see what might take your fancy. Then, ask for hotels. Or change the order, if the location of the town is more important than the hotel or the restaurants. Or change the order again, if the hotel is the most important.
As this thread shows, it is really hard to suggest places to stay over an area the size of Yorkshire, not least as nobody has a clear idea as to where someone will be, how long they are going to be away for or quite what they might want. Sometimes, it’s just fun (daring even) to pick somewhere yourself, rather than going somewhere just because someone else has. When you are in the area and you pass through somewhere and think to yourself, “Mate, this looks like a great place”, take a simple note (photographs are great, as they often link straight to a map) and remember for next time. I do it sometimes as I ride along, if I pass what looks like a good cafe. I just mark it on my GPS as a favourite, all without stopping. Will I ever visit them all? No. But as they are in favourites they display on my screen and serve as a reminder, sometimes many years later. I guess I have a hundred or more; my computer and gps device do not forget them, even if I do.
PS There is no more good reason why every Belgian town must have a choice of restaurants or even cafes, any more than a Yorkshire town must have. Indeed, the rules are I guess pretty similar. If it’s a big place, then the chances increase. If it’s a hot tourist spot, the chances increase. If it’s Doncaster, you don’t want to go.
