If you can arrive really early, you can snag one of the 4/5 parking spaces outside the Olde Nags Head pub in Edale. Then you can walk the Pennine Way cross-country to Upper Booth, longer, but much better than the boring road walk from Barber Booth.
Alternatively, you can walk the old Pennine Way route behind the pub up Grindsbrook. Once on the summit plateau, you can navigate over the true summit to Kinder Low, then back down the new Pennine Way to Upper Booth - a nice circuit.
If you park at Barber Booth, there is a nice circuit where you only have to do the road walk to Upper Booth once. At Upper Booth, turn right and take the path directly up onto the plateau. After descending from Kinder Low, do not turn left down the Pennine Way towards Jacob’s Ladder, but go straight on. This will bring you descending through open farmland, and ultimately to just behind the trees at Barber Booth car park.
Map, compass and careful research/planning advised.