hopefully a Doncaster based rider can give a definitive route – used to live north side of Shefffield and would use Trans Pennine Trail to get to Doncaster and beyond but it probably isn’t the best route – bit gloomy, road wise I’d link the minor roads through Wath / Elsecar / Worsborough / Hood Green / Silkstone
this is one of my old routes and the section from Thurlstone to Holmfirth includes the Jackson Bridge climb which is a tick in Simon Warren’s 100 Greatest Climbs , if you are that way inclined, anyway the road out of Thurlstone has fantastic views
https://ridewithgps.com/routes/1329448
the loop back after Holme Moss on this route is on the Trans Pennine Bridlway and is CX stylee
main road wise I’d avoid the A628 and A616
A629 and A635 (west of M1) are both OK
edit link corrected I hope