Are you limited to starting in Embsay?
If not then park up at Linton. Take the BW heading west, cross the B6265 and follow the BW round the back of Swinden Quarry to get to Cracoe. (the last bit of this will be muddy). Road to Hetton then take the track heading NW before a boggy section leads on to Boss Moor. Go N over Boss Moor and continue on a variety of tracks, some rocky, some armoured, some grassy to Height Laithe. Continue to Bordley Lane and turn left (west) then at the end of the tarmac turn right and head to Mastile Gate. Turn right again and go along the lane to a long fast descent to Kilnsey. Take roads to Conistone then the track heading up to Mossdale. From here there’s a high level track to the old lead mines at Yarnbury. Take the track that heads down Hebden Beck to Hebden. Roads back through Grassington to Linton or drop down to the Wharfe and cross it by a footbridge (legal) and pick up the road on the far side of the river and so back to Linton.
Basically all rideable at the moment.