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@WhoaCats
If navigation isn't your thing, the national cycle route 4 is signposted all the way. I've done the section from Bath to Bristol, it is cracking and I've been told the rest is okay. It'll be slower going than country roads but better than the A4. Admittedly I've only driven the A4 but I don't fancy riding it.
Back country roads would be my preference, but with a gps (I'm not old enough to remember paper maps).