In reply to Graeme Hammond:
I drove past Brimham last weekend and there were lots of cars on the verge beyond Hare's Head (coming from the Summerbridge direction) as the car park was closed. If they've not updated the website then I expect it still is. If you can park at Hare Heads then I see no reason not to take access to the crag (it is CRoW after all).
If you can't get parked then why not take the opportunity to visit Eavestone. I see you've not done Eavesdropper, Wedgewood, Fat Chance, Crazy Paver, and Eavestone Wall. That's a grand day out in anyone's book.