Useful info here:- https://ramblingman.org.uk/planningatrip/planning_a_dales_way_trip/ with a possible 5 day schedule (perhaps spend the 1st afternoon just getting to Windemere camping caravan club site?)
It’s been many many years since I’ve done it (but done it 2 or 3 times) and always been a bit more leisurely than you suggest.
If coming from Windemere then it’s only a short’ish (off the train / afternoon) hop to the Windemere / Ashes lane camping caravan club site (before Burneside)
There was a site in Sedbergh but if possible Dent was always a favourite stop if you can make Windemere/Burneside to Dent in a day.
I see there is now a campsite in Buckden which is great as this used to be a problem area https://buckdencamping.co.uk/site-information/
If it’s a bit much to make Ilkley from there (?) consider camping at Appletreewick (tbh our stops were largely based on proximity to Theaskston pubs – that’s probably changed too)
I’m also in Skipton and dreaming of doing this too but I think it’s probably one for next year for me now (holidays planned)