Details:

Over the bridge to Beverley for the first stop. Then north via Driffield and possibly Sledmere House (Farm shop and cafe). Then "The Vintage Petrol Pump" garage. We can then call at Matthewsons Auctions ("Bangers & Cash") and finishing at Pickering.

Either:
Return by travelling West to Kirkbymoorside and then South by back-roads to the "Yorkshire Lavender" Cafe near Terrington. Stamford Bridge to cross the River Derwent and via Fangfoss to Pockington for one final break before heading to South Cave and thereafter via the Humber Bridge to the Fox Inn.
Or
More rapid return via Malton direct.

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