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No walk description.
To visit Whtby, we would recommend the "Park and Ride" service.
https://www.northyorks.gov.uk/roads-parking-and-travel/park-and-ride/whitby-park-and-ride
Buses run every 15 minutes.
Using this service eliminates problems with parking in the town.

Of couse, there is also the railway, with services from Middlesbrough (Network Rail) or Pickering (North Yorkshire Moors Railway) with Whitby's railway station by the harbour.