These are some fantastic places, I feel like I have something to go on now. I know Yorkshire is big, but since I'm so unfamiliar with it, I didn't want to narrow the search down too much just based on geography. I'd rather find a nice place to stay, then make plans based on that. If we end up being really far away from DH's friend, we can always meet each other halfway. Plus our anniversary is on a Friday, so we can take the weekend to explore, and don't have to stay in one place the whole time.
Thanks for the fabulous suggestions, ladies!