After just being at Scarborough for the week. Which was great I must say to see the crowds back and the beaches full.
I would avoid the A64!!! if possible. We was sat on it three hours for approx ten mile stint. Terrible stretch of road, just after York. That was a Friday am.....
If I was coming from your direction, A66 across to A1, then down to around dishforth, then take 170 into Scarborough. As said just avoid Sutton Bank. Use diversion around. Or head for Whitby, and take the coast road down to Scarborough.
That would be my route.
Firstly avopid sutton Bank at all cost.
you have three ways really
1. A66 to A1, then cut across north yorkshire to A171 south to whitby and Scarborough
or
2. A65 to A59 or South to A59, cut across to York via Skipton, Harrogate (abit hilly but otherwise okay), etc.then A64 into Scareborough
3. South to M61, then M60 east to M62 east to M1 North then A64 to Scarborough.
Indeed A64 can be rough, depends what time you travelling.