I'd still much prefer a tiller to the wheel my hire had -- yes you could see along the side, but it was very slow to steer with no feedback feel of the tiller angle (except looking behind you at a small pointer on top of the rudder).
Wine, beer or gin consumption -- or all three... 😉
I'd say 3mph (20mins/mile) is too optimistic for a wideboat along this section based on my experience (it's OK for a narrowboat). 14mins/mile for walking is also quite brisk for most people...
(but still, that trip will be fine for a day in June with 4 adults)
When we did that stretch a couple of the swing bridges were absolute sods to move, pretty much impossible for one person (me) -- maybe they've been fixed by now, or 2 people might be needed...
If you're in Skipton overnight the Beer Engine is highly recommended... 🙂