Nidderdale is officially an area of outstanding natural beauty so to say it’s not worth a visit seems a bit odd.
Depends what the alternatives are on a route between the Lakes and Barnsley. I think there are a lot prettier bits of the Dales, Pateley itself is OK, couple of nice shops and pubs, but nowt special. Nidderdale to the north is pretty enough, How Stean Gorge is OK if you’re in the area, never been massively impressed with Middlesmoor – one pub and a church on top of a hill basically.
Brimham is great, but can get a bit rammed.
Here’s another alternative AONB – North Pennines – you’ve got Alston for lunch, a great scenic drive over into Teesdale, High and Low Force from Bowlees is a great short walk, some really lovely pubs and eateries on the way down through Barnard Castle on the way to the A1.