Yorkshire Dales is a good shout. Over the last few years I've followed the routes of the Yorkshire rivers, Swale, Ure, Nidd and Wharfe from their source to the Ouse. The road alongside the upper reaches of the Wharfe is particularly nice and an overnight stay somewhere around Grassington, Bolton Abbey or Burnsall is very relaxing. If you've never been, and depending on which side of the Scottish borders you are, you could also include a drive through the lake district which is lovely. You could then continue to Goodwood via the M6 or M1.