Just updating this on here despite the thread being about the wrong crag!
North Yorks County Council have been replying to emails at glacial speed...but we have now finally established with them that there is no optimal existing access point to the crags despite maps suggesting otherwise, that we do have a right to be there as its access land, and that as per access land rules we can access the land by climbing over gates/fences as long as no damage is done. The council have submitted a land registry request to try and ascertain the owner of the land, upon which they say they will try and discuss with both them and any tenant farmers to see if a stile can be installed. Based in current reply times I doubt this will be speedy!
In the meantime I will arrange for the RAD to be updated with the parking and approach info detailed below by Stubs. Hopefully people will start going back in dribs and drabs, having parked correctly, and there will be no repercussions. The RAD will also advise no lamping as there are houses nearby.