I still have a copy of Alan Binns PW Guidebook, from my 1978 PW walk! It was written early 1970's,when most signposting was absent, and all the high level,flat moorland sections (about 60 miles)were boggy and pathless,as everyone took alternative routes to avoid the worst of the knee deep peat bogs.The book concentrated on compass bearings,and landmarks to head for.Nowadays most of these sections are all flagstoned over,speeding up the walk, but eliminating some of the fun(assuming it is someone else going in knee deep!).
Only points on the PW that you may need your hands (not really a scramble) are north up PenyGent and Cauldron Snout,although neither are really exposed.
I agree about the book. It was a book of its time and the route, in a lot of cases, was still in the developmental stages. I occasionally still pull it out and read it from the nostalgic point of view. How many teachers today would do what he did I wonder. I have taken numerous groups, of all ages, on day activities, but the joy is to hand them back at the end .... not to camp with them for days on end .... I am too much of a loner for this. I genuinely admire his efforts.