Roads in Haworth at moment are fine and driveable, unsure of Penistone Hill, butbottom road is clear and cars are up and down, would personally suggest parking in village (not at private car park or he'll clamp you) and walking up, it isn't far. I usually drive (lazy yes!!) but I wont tomorrow, I'll walk...
As think Stagger said, be safe, there are other races....:)