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A64 then A169 is fine it is the way I towed my van when I went to Whitby. Going into Scarborough and then up the coast is considerably further and very busy around Scarborough.

I would personally go via Scarbro and take the coast road, theres no real problem hills on that route although be sure to avoid Staxton hill on the approach to Scarbro from York.

Personally we do this by taking the route via Bridlington then picking up the new Filey bypass straight into Scarbro.

Julia

As they say the A169 is a lovely run over the moors and round the Hole of Horcum. Take care at Blue Bank dropping into Sleights. Its about a 1 in 5 and you may like to think twice about the return journey that way depending upon what you are pulling and the power under your foot. Top of the hill - parking on your right for a bite with splendid views across Eskdale to Whitby.  If you take the A171 that's just as pretty through Dalby Forest. There is a long 1 in 5 hill out of Claughton up on to Claughton Moor which does have a crawler lane so others can pass you by. Tricky spot would be after the Flask (cafe) where there is a sharp left - straight down into a sharp right and steep climb up onto  Fylingdales Moor. That is at Pond Farm if you look on the OS.

Have fun

Phil 

the 169 is a piece of cake just be careful at the above mentioned places and look out for bikers who will take any risk to be past you.its notorious on that road and on the whitby / scarboro road.