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Yorkshire Moors and Dales itinerary advice

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Our family (myself, husband and 15 yr old) are planning our first trip to England in May. Thought I had an itinerary nailed down, but husband is interested in Hadrians Wall (history buff). Here is what I have so far.
Day 1) arrive London
D 2) London
D 3) morning train to York. Rent car and drive to Helmsley for overnight.
D 4) drive through Moors. Whitby. Return Helmsley for night.
D 5) Drive to Dales. Stay Grassington ? Possible trip up to Hadrians Wall? Otherwise sight see.
D 6) Dales all day. Must do an hour pony trek. Overnight same spot in Dales.
D 7) morning back to York. Return car. Tour York. Overnight York.
D 8) heading towards Paris.

We will also have a half day in London again before we leave.

Questions: is it possible to throw in Hadrians Wall? Better place to stay in Dales?

We want to see as much as possible, but also don't want to be rushed too much.

Thanks for any input.

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