How about Kirkby Lonsdale (a similar distance from J36 as Kendal but in the other direction, i.e. east, along the A65). Lots of nice places to eat, things to look at, walks along the river, Ruskin's View (if/when it's open again due to repairs), nice large grassy picnic area by the river, free parking on the cul-de-sac road to the bridge (if you can get in, so don't always have to pay in Booths or elsewhere), nice market square, pretty church, some connection with Peter Pan (apparently it was penned there, I only discovered that recently). For walking, the Barbon Fells are hard to beat for a quiet, corner struggling to not be eclipsed by their bigger closer neighbours (e.g. the Howgills, the Lake District, and Whernside/Ingleborough).
(No, I don't work for the Kirkby Lonsdale Tourist Board and I have no connection with KL other than as a big fan!)