As someone has pointed out, the footbridge is due for some work (planning permission has been granted, noted above). A couple of years ago, 2023, when there was an attempt to close Settle ticket office along with lots of other station ticket offices), there were potentially issues with e.g. disabled access (where the footbridge wasn't practical) to the Carlisle bound platform for e.g. wheelchair access, as this had to be across the barrow crossing, and this was only available when the ticket office was open/staffed and this had fairly limited opening hours. As we now know, the ticket office closures did not happen. Additionally; the opening hours have been extended (
https://www.cravenherald.co.uk/news/25777097.longer-opening-hours-settle-railway-station/), so this issue has been alleviated to some extent. Before that, if a Carlisle bound passenger needed to use the barrow crossing outside ticket office opening hours, they had to ring Northern, who would send a taxi from some far flung location for transport to the next station (Long Preston): necessary but not exactly ideal. I seem to recall seeing an old map where there was a footpath to the Carlisle bound platform from the rear of Goldielands/Prospect Terrace (don't have the said map to hand at present) but that wouldn't be realistic now. Getting direct access to the Carlisle bound platform from the public road would be tricky due to the steep drop as well. Someone suggested a new car and coach park for the Carlisle bound platform: this would probably be so far away as to be unfavourable due to the geography/geology, in addition the line corridor is a conservation area in its own right, and Settle is covered by quite a number of planning restrictions and on the edge of the national park, so it would take quite some head-scratching at the very least! If there was the will, it could be possible, but it would require jumping through many hoops! Maybe there could be a lift installed (tongue in cheek suggestion?) as has been recently done at Horton in Ribblesdale....
(Disclaimer: I have no connection with Northern Rail, Network Rail, or the Settle Carlisle Dev Co, and the above are only my observations)