I have no personal knowledge of Roman Roads in that area other than references that can be found by trawling the net.
For starters try Wikipedia...Cade's Road which may cover the area of interest. OS Landranger Map sheet 93 (2010) which may or may not contain information. ISBN9780319228777. There are other leads to follow on internet and possibly Darlington Library-Local Studies.
The stone you mention could well be the remains of a Roman milestone of which there are a few still in situ throughout the country and others preserved in museums.
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