We did the Dales High Way in May this year - thoroughly enjoyed it. Not quite sure what you mean by a 'structured' route - like all routes, you pays your money (or at least you buy the guidebook or look at the map) and you takes your choice! I found the guidebook, and the 'Companion' booklet, very well set out and easy to follow, but if you wanted to put in a diversion here or there you just look at your map. It was fascinating to find some little-known paths in such a well-trodden area as the Dales.