Im looking for semi/defined, non exposed routes
I'm not sure what semi/defined is, and taken literally very few routes will be non exposed. That's what you get with closely spaced contours and cliff lines. It's why we walk there!
but down river from Du faur Head there doesnt seem to be much until Faulconbridge point river track
Looking through my trip notes;
On the Bell Rd side I've done 6 routes between Mt Banks and Carmarthen Brook (but most have a moderate to high degree of risk if you're leading), 9 between there and The Devils Wilderness (private property may now be a problem) and another 16 down to opposite the Grose Valley Walking Track. On the highway side I've done 8 between Du Faur Head and The Devils Wilderness and I'm sure there are several more, plus another 9 down to the Walking Track. All were done as day walks.
Basically, if you're in a small group of experienced people with reasonable fitness, most of the ridges and creeks with the exception of the first six mentioned, are feasible without rock climbing skills.