Hello,
I don't think that https://www.openstreetmap.org/way/222295786 is "foot=no".  I walked down here on 6th August (unfortunately I haven't updated OSM with it yet).  There's actually a pavement (sidewalk) on the southern bit of Farnham Lane that continues down the A road past the new housing estate, and the bit of Boroughbridge Road east of Farnham lane has a verge on the north.  I didn't walk that bit though so I'm not sure how far that goes.
However, unless there's explicit signage it's still legal to walk on a road in the UK even if there's no pavement or verge.
Cheers,
Andy
