Having grown up in the Lakes and now living on the edge of the Dales, it’s worth noting that the Dales just isn’t as commercialised as the Lakes. You don’t have a version of Keswick, Ambleside or Bowness/Windermere, even the bigger towns like Hawes and Settle are more comparable to somewhere like Coniston. Everything else is smaller, much smaller, think Broughton in Furness or Glenridding – not quite “local shops for local people” but not far off. Many villages are lucky to have a shop, partly a result of population changes and partly increased mobility so people driving out of the park (Settle, Skipton, Harrogate, Richmond) to do their weekly shop at the supermarket, once there they’ll use the other services.
The only national parks I can think of that are less commercialised are the North York Moors and Northumberland.
Having said all the above, the quietness is one of its charms and away from the honey pots like the three peaks you aren’t going to meet that many people out and about either walkers or bikers.
In no particular order look at Settle, Grassington, Sedbergh, Hawes, Leyburn. All a reasonable size but not too big or busy.