In the Middle Ages, few people travelled further than the nearest market and the road network around Baldock was probably very much a local one bringing trade to the weekly market which was established by 1199 and to the various annual fairs.
The main road from London to the north of England was via Ware, Royston and Huntingdon, essentially following the Roman Ermine Street and was later known as the Old North Road.
People in Baldock travelling to London probably used the track known as London Bushes Way through Clothall to Walkern and then Ware so joining the Old North Road.