Fondly remembered from my childhood, when (my father being a railwayman) it was used for holidays at such places a Robin Hoods Bay and Staithes.
It makes a cracking walk nowadays, particularly the views from Ravenscar heading North to Robin Hoods Bay.
If you cycle, then the length from Scarborough to Whitby and back is possible in a good day, though short sections are slightly more daunting on a bike than walking. We last did the round bike trip Scarborough to Robin Hoods Bay in August (out by the old railway but returning via an inland route to push the miles up a bit).
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Catesby Tunnel 
Catesby Tunnel 