In reply to andyd1970:
This is a bit of a second hand recommendation as I don't have the books myself but quite a few people I know on Twitter swear by Paul Besley's guides, including many who are already seasoned walkers in the area:
https://www.cicerone.co.uk/authors/paul-besley
I do have one of Chris Goddard's books but they might not be what you are looking for. They have some suggested routes but I bought mine more for his beautiful hand drawn maps and illustrations. It also contains a lot of interesting information. You can see inside the books on his website to get an idea of how they differ from a regular walking guide book. This is the one I have:
https://christophergoddard.net/product/south-yorkshire-moors/
Post edited at 08:29