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According to GenUKI, there is a gentleman who is willing to do look-ups. https://www.genuki.org.uk/big/eng/DEV/Iddesleigh/IddesleighIndex Scroll down to the bottom of the page and there is a link to his e-mail.

Hi Again
The other Giles 1752-1819 is the son of Richard Wlesford's brother Roger and wife Ursula.
Only two marriages for Welsford's at Totnes -Giles 1753-1819  to Mary Adams 23.7.1782 and his brother John Parr Welsford to her sister Susannah 3.11.1788.
Mary bapt 28.3.1755 d of William and Susannah 10.6.1763.

Roger and Ursulla's- Ursula 19.6.1748-2.11.1748,Ursulla 18.7.1749- 20.9.1749,Elizabeth 9.9.1750 ,Giles 4.2./16.2.1752 ,Sarah 6.8/16.8.1753 ,son 29.11.1754-1.1.1755 ,son 1.12.1755-21.12.1755 ,possible Peter 15.3./24.3.1757,Joanna 3.11./4.12.1758.John Parr 18.6/13.7.1760 nad Roger 10.12./23.12.1767 ?.
It looks like Ursulla was related to the dissenting minister at Crediton who registered the children's births Rev John Parr.Probably his daughter.(John Parr's will 1777 names John Parr Welsford as his grandson)

Roger sergemaker bound to appear in Court 1769
https://devon-cat.swheritage.org.uk/records/QS/4/1769/Epiphany/RE/10
Roger was the victim having lost 23 yards of serge stolen by John Gidley.

And as we know Roger was the brother of Richard Welsford of Crediton grandfather of your Nathanial born 1784.
Richard married Rebecca Weeks of Crediton 2.1.1748 at Shobrooke
He was also a sergemaker and victim of theft
https://devon-cat.swheritage.org.uk/records/QS/4/1754/Michaelmas/CO/14

Ciderdrinker

Thank you Ciderdrinker for all of this information. I was never certain as to which Giles (both born 1752) was mine, but the marriage between John Parr WELSFORD and Susanna ADAMS appears to confirm the Roger/Ursula parentage. Giles died in 1818 and was buried 26 Jun 1818 - I am currently trying to decipher his will (probate 1819) which is of the most appalling quality, so will take some time.
Frances Adams WELSFORD (3rd child of Giles & Mary Adams WELSFORD) went onto marry James LILLICRAP (later Rear Admiral James LILLICRAP)

FYI - there is also a burial for a Symon, sonne of Mr Francis WORTH 16 Jan 1670 Exeter St Pancras.

There are no PYCROFT baptisms at Stoke Damerel 1801-1817 I'm afraid. (My transcriptions were made from fiche of the original registers)
There were 2 burials at Stoke Damerel: Thomas PYCRAFT  3 Jan 1808 aged 8 months and Eleanor PYCRAFT 13 April 1810 also aged 8 months.
An Elena PYECRAFT was baptised at Plymouth Holy Cross, (Roman Catholic) 24 September 1809, born 5th September 1809; dau of the 'lawful marriage' of John PYECRAFT and Margaret his wife (alias DONEVAN), living at Dock.
John & Margaret PYCRAFT also baptised a daughter, Mary on 20 June 1800 (born 16 Jun 1800), at Plymouth Holy Cross.
So, it's possible your family were RC and possibly of Irish origin as the sponsors were Timothy SULLIVAN and Ann BURGESS.
Looked a little further and found a James SYEROFT (as transcribed). The actual register reads: "On the 24th April 1803, I have baptised a son named James, born on the 20th of the same month, of the legiticum (?) marriage of John PYCROFT & Margeritte, his wife (alias DONEVAN), residing at Dock. The sponsors were Cornelius DONEVAN and Brigitte READ.

He was baptised at Plymouth St Andrew, as William John RICHARDSON 6 Jun 1841, son of William & Elizabeth of Cambridge Street, father a labourer.