My training route is to Skipton via Bingley every weekend, by road, canal sometimes both, the latter is fine now BTW from Leeds right through to Skipton.
Road, the A629 is fine from Bingley to Skipton, the traffic now goes on the Aire Valley trunk road and once past Keighley it is quiet. Last 4 miles to Skipton, busy but wide.
I like Spinney's route suggestion, I'd ride that. The A65 is a bugger, stressful, I try not to use it, but................Saturday is the best day to use it if you have to, lots of haulage not running and the Sunday drivers yet to get going. It's a slog but not very demanding IMO and I am a 50+ plodder.