The further you travel into Swaledale, the roads get smaller and the signal gets more distant, but the villages remain as picturesque as ever.
You can find the tiny village of Muker in Richmond, about 40 minutes drive from Richmond central. Its population is estimated to be under 300 people and on a weekday in winter, it's quiet and sleepy.
A smattering of stone buildings line the stream that runs through the village. But despite its small size, Muker has its own visitor's car park, pub, wool shop, tea room and art gallery.
Read more: What it's like living in Yorkshire village that's 'the best in the world'
And it's that wool shop, Swaledale Woollens, where the then-Prince Charles once visited in 2004. He received a free locally made jumper for his visit.
But shop worker and local farmer Pat Coates told YorkshireLive Charles and Camilla liked the shop so much they ordered handmade woollen gloves from there. Today, a thank you letter from Camilla is proudly displayed on the wall, saying: "Thank you for the gloves you so kindly sent to me.
"We go up to Scotland for Easter, where I am sure that they will be just what is needed!"
Pat said when Queen Elizabeth died, a group of reporters from New Zealand travelled all the way to Muker to report because they'd read the story about Charles buying gloves from there.
While it's quiet in the winter months, as well as royals, Pat explained Muker attracts its fair share of tourists as the weather gets better.
"In the winter it is quite quiet here depending on the weather," she said. "Then from March it will start to get busy right through to November. It becomes quite a tourist attraction in the summer.
"We have the coast to coast path going round the back so that brings people in. We all need to make a living so it's nice to see it busy - mine and my husband's living comes from the farm and holiday cottages.
"We do seem to have a bit of a problem with lack of staff up here in the Dales, which is hard for the pub. I like the mixture of holiday cottages and permanent residents - farming and tourism are the two ways of earning income out here, and things are very expensive - we've had to find cheaper ways to feed our sheep this year."
Life in the Dales
Pat and her husband, a farmer, moved to the area in 1996, and have been here ever since. "The community is very close - everybody knows everybody," she said.
"That's especially the farmers. Facilities are quite far away though so the population has tended to be older - schools are amalgamated with the other villages.
"But we've had a population boom recently and there will now be eight children in my grandson's year! We were put a bit on the map in Swaledale by the TV show at Ravenseat Farm - we all knew Clive when he first moved to the Dales.
"How they live up there is how most of us Dales farmers live. Visitors are quite fascinated by them but that freedom is just how families are raised here."
Michael, from Essex, was visiting Muker when YorkshireLive visited on a grey January day - he has a house there he usually spends around a quarter of the year in. He said: "We first came here in 1991 and fell in love with the village and the people.
"We've been coming back ever since. My wife died nearly three years ago but I still like to come and see my friends here. The scenery is wonderful and so is the community and the people.
"Yorkshire people are far nicer than people down south! I love Nick and Alison at the tea room, and if I really want a pint while the pub is closed, I hike down to Gunnerside.
"I don't mind it when it's busy in summer either - I like to sit on the bench in front of my house and people watch."
Muker has made an appearance on screen in All Creatures Great And Small. It also has a popular show, that Michael praised, every September.
Tom, who doesn't live in Muker, but was in the village to do some work on houses, said he could appreciate the beauty of the place.
"It's quite quiet here - we started work just before Christmas. But it's a great place for walking - very nice but a bit quiet right now," he said.
"We first came up to look at the job at the end of summer though and I couldn't believe how many people were here walking. Everyone is really nice though."
Read next:
The four Yorkshire villages named the 'most desirable' to live in the UK
Life in the Yorkshire village with no shops and a two-hour walk to GP
