Assuming we are not still restricted, a few walks to consider:-
Settle - a circular, caves and waterfalls, walk. Takes in Scaleber Force, Victoria Cave, Jubilee Cave, Catrigg Fosse, Stainforth Force.
Settle - another circular retracing the footsteps to Stainforth Force then to Smearsett Scar, Wharfe and Oxenber Woods (late bluebells may still be out along with the purple orchids), Feizor (call at Elaine's cafe for tea and cake), Buckhaw Brow, Giggleswick Scar and the old quarry, Giggleswick village.
Malham - yet another circular walk. Janets Foss, Gordale Scar, Malham Tarn, Pennine Way south via Watlowes and Malham Cove (RSPB wardens may be in attendance and have their scopes trained on the Peregrine Falcons nesting high on the Cove).
Austwick - circular taking in Norber Erratics, Crummackdale, Beggars Stile, Thieves Moss, Sulber Gate, Wash Dubs, Wharfe.
Ribblehead - wander about walks. Park at the station and visit the cafe and Information Centre for the story of Ribblehead Viaduct. Walk to the viaduct then on past Blea Moor signal box to Force Gill waterfall. Back to Ribblehead and a short road walk (and then grassy path) to the old packhorse bridge over Thorns Gill, continue to the almost demolished hamlet of Thorns, back to Riiblehead via Ribble Way to Gearstones and then road walk back to car.
Ingleton - waterfalls walk (you have to pay for this one).
If you want one of the 3 peaks then how about Ingleborough - park at Clapham, ascend via Long Lane, Sulber Nick, Simon Fell Breast. Back via Little Ingleborough, Gaping Gill, Trow Gill, Ingleborough Show Cave and the Nature Trail back into Clapham. Late May Bank Holiday (and August Bank Holiday) the local caving club set up a winch to take the public down into the depths of Gaping Gill - maybe not for you if you don't like heights as the descent is via a bosuns chair some 320' down to the bottom of the cave, but well worth a visit to the see the tented village set up for the event. Covid caveat - all of course depending on these events and attractions being open.
You should be able to plot routes on the OS map of the area, but if you need further info just let me now and I'll do mi best to help.
It's a wonderful area full of magnificent limestone landscapes, excellent walks, first class quality of life and top class folks (well, some of us are ....)