I’ve seen shots of Linton Falls next to Grassington and you could probably walk across the river bed dryshod.
Yep, you can pretty much at Burnsall at the moment!
There are a couple of deeper spots there but it will be rammed solid.
Grass Wood is a good call, there are a few parking spots up the minor road to the east of the Wharfe (north of Grassington) and the birds of prey keep the area free of small dogs and weak children.
http://www.cravenherald.co.uk/news/15891658.Family__39_s_terror_as_pet_dog_is_snatched_by_bird_of_prey/
Might be worth looking at the Skirfare.
Reckon that still has a splash in it? There is farmer-run parking north of the river and you can walk straight down to the water from there.
Hebden Gill still had some juice in it last time I passed by, but that was a week and a half ago, and things are even more parched now.