I guess that majority of regulars on site have done “chunks” of Hope Valley a time or three...re-walking Kinder Trespass, ascending or descending Jacob’s Ladder, looking for aircraft wreckage, etc, etc are almost rites of passage for walkers.
You could...of course.. find routes where you needed to scramble,etc and maybe find places where balance was really difficult, but most of the main routes aren’t “technical” at all. (Mind you fallen over coming down Jacob’s Ladder a time or three, and fallen in Derwent trying to use stepping stones just outside Hathersage.)
There’s a railway line (running between Sheffield and Manchester) through centre of valley, and reasonable bus services..so you could plan a linear route, without need to get back to car. (That’s what I’ve done on last few visits, doing things like Chinleyto Edale or Edale to Bamford on recent visits.)