After #3, follow the footpath sign down through a garden, past a BBQ patio and along. You will come to a fork with a Footpath indicator on a gate to your left. Turn RIGHT instead towards the lower houses. (It's not signed from this end, but it is from the bottom and is on the OS map, it's definitely a right of way!)
Walk in front of the houses and along the track to the road, then cross the footbridge facing you.