We used to live there, but have moved the other side towards Manchester/Peak district now.. Hathersage way if that means anything.
Penistone was great for us, good access to Sheffield and Leeds just like yourself, but as Steve said above the drive into Sheffield city centre is one of the worst commutes I’ve ever had to do.
I would recommend riding as much as possible, if you can.. Or you can find alternative routes, depending on which part of Sheffield you are heading into. I for example needed to be on the parkway, and depended what exact minute I left in the morning, it could be quick (but longer) to get onto the M1 and head South for a few junctions!
Other than that, lovely place!
Cubely Hall (if thats right?) was a really nice place for drinks and food!