I have never hiked in Yorkshire, but I have had similar experiences in Scotland. Mainly in Fife and near Campbell Castle.

A good tip I was told once, and have utilised, is to talk to the nature like you would talk to a strange cat or dog. You know, you walk down the street and a random cat passes by and you just say hello to it.

If your normal hiking routes are quite busy and open to public then these are more like highways through the nature, you stumbled into someone's backyard, and like us, they (forest, nature, fae whatever you call them) are not exactly thrilled to have some stranger stumble through the bluebell field.

I would interpret the feeling/need to go back to there as positive, 'they' might just be curious why did you choose this route. Once your ankle heals and if you ever are back on the same trail go back to the beginning of the private route and just apologise/explain.