The Shropshire Hills Discovery Centre might also be worth a visit – it’s about halfway between Craven Arms station and Stokesay Castle, and is open all year. It has displays on the geology, archaeology and history of the area, including the Shropshire mammoth – not sure if it’s the actual skeleton or a replica. And the building’s design, with a grass roof, is supposed to “echo the many hillforts in the area”. As for a pub to visit afterwards, there’s the Craven Arms Inn which the town was named after, a big Georgian place also on the road back to the station. Don’t know what it’s like though. I’m sure there are others too, although it’s a while since I was last there so I can’t remember any names.
All these places have parking facilities for anyone not travelling by train.