Not sure how long, if at all, you would be stopping in Kendall, but it has (had?) a crackin' Italian restaurant that I could probably find again.
The Castle is worth a look, it's a nice high open space overlooking the town with stunning views with a fair bit of the castle still remaining.
Inspiring video of a funeral cortege here, which ends up in Kendal. Gives you an idea of the countryside. Nothing like it for bringing folk together, but I don't mind if I don't ride another anytime soon!
https://youtu.be/-rCVm9NLhQM