Ken,
Which area are you coming from?
It doesn't say you cannot come from the M6.......it only says do NOT use junction 37 which then takes you through Sedbergh.We did meet someone who had done that and said the caravan walls were almost meeting the walls of buildings on each side!!!
Looking at the map,coming off at junct 34 onto the A683 and then the A687 and heading for Ingleton and then the B6255 to Hawes would seem to be the way to go. Haven't used this route ourselves,but I'm sure that someone can say if this way is OK.We were on site last year in appalling weather conditions,but still enjoyed ourselves.