In reply to mfisher:
Yes, that is the parking location suggested in the guidebook. Parking at that spot has become more difficult since a large boulder was placed there to partly block the space. Alternatively, there is a large parking area further along the main moor road towards Otley but it is then a bit of a trek.
To anyone reading this thread who might be thinking of visiting, please avoid parking anywhere along the single-track lane below the crag.
In reply to the OP...
Yes, the crag is on CRoW land and there is a right of access. However, the three main buttresses (and especially Tantric Buttress) all overlook the house just below the crag. Indeed, from Tantric Buttress the view is directly into the front windows of the house. For this reason, I do not think that lamping is a good idea at this venue.