I'd walk https://www.openstreetmap.org/way/1150103725 rather than https://www.openstreetmap.org/way/1150103724 and will investigate to see where the NCN 6 and Derwent Valley Heritage Trial walk are signed. For the cycle route the road https://www.openstreetmap.org/way/123191147 is also an option (certainly if cycling towards Exeter Bridge)