The National Trust Dudmaston Hall in Shropshire is only a short taxi ride from Halfpenny Green, as is Hampton Loade, but I'm not sure if the ferry that takes you over to the Severn Valley Railway is operating at the moment. It was operated by two elderly sisters for many years and then this youngest bloke took it over, and charging to much, and it closed. There were talks for the SVR to take over the ferry.
The countryside is lovely and lot of good country hotels walks, the market town of Bridgnorth is worth a visit.