We did this walk from - www.walkingenglishman.com/ in 2017, and it has been our favourite walk ever since, so we did it again. This time we stayed in a camping site in Hope, and left directly from there, so there was no need to drive & park. We stopped at the Ramblers Inn for lunch, which does great food! We get caught up chatting some times, and then make a few wrong turns, so normally we do slightly more than 21KM - but it's an easy enough route to navigate. It takes us about 8 hours, as we stop for lunch.
Laneside Caravan & Camping Park - Station Rd, Hope, Hope Valley S33 6RR
The Toilets & Shower Facilities here were great! They also offer breakfast rolls from 8am, and had a small shop on site. You were allowed BBQs, and campfires, as long as they were both raised off the ground. The pitches are set up more like a caravan park, as it is predominantly a caravan park, so you don't have a large grassy field to pitch in, so you have to set up your living outdoor quarters to the side of the tent. Hope is within a 5 min walk, and has a great Indian restaurant, and also has a pub and a spar shop.