If you look on Google Maps and zoom right in you can see gaps in the walls and vehicle tracks so there is indeed a way from the cliff top path back to the road.
By the way, if the Google maps satellite view is unclear for whatever reason, try Bing maps: http://binged.it/1Pp4Hz2
Good tip about Bing Maps, didn't know they existed
, also the photography may be more recent and better quality. In this instance their capture of the Kidsdale farm shows more internal farm tracks.
I have used Google maps mostly for plotting routes in Wales and the West Midlands. Useful for finding parking places as Agent Mancuso mentions, but the greatest weakness in the PRoW system in the rest of the UK is it's rigidity ,especially when the occupiers of land take umbrage at stepping off the righteous way.
Planning 'PRoW Two Step' as I call a skip from one to another across "Private Land" is a delicate art, assessing the quality of field boundary and the level of hedge management is a must, as is knowing where the enemy is likely to be lurking.
Land managers don't do much these days, contractors do most of the work on the land and getting an overall picture of the farm and the farm management is useful.
On line mapping, up to date OS maps, historical maps and aerial views with mapping info is great for widening the scope of route finding and using the terrain to better advantage.
I mention historical maps, because in exploring lost ways I have been surprised how little the position of gates have changed over the years and the features imprinted on the landscape by old routes is often very recognisable and valuable.