I think the rivalry between Chesterfield and Sheffield is pretty much to be expected. Predominantly rural counties like Derbyshire historically identify with the county - and Yorkshire is known for it. Place a small county alongside a large one and it's only to be expected that a rivalry develops. Think of Scotland and England, Canada and the US, New Zealand and Australia.
Add to this that Sheffield has encroached on Derbyshire for decades taking Totley round to Norton in the 20s despite local opposition and trying to add the Hope Valley, Dronfield etc in the 70s.
Today the influx of "loud and proud" Yorkshiremen into Eckington, Dronfield etc is a local cause of resentment amongst long standing local families who can no longer afford local homes, whose pubs have been taken over and their characters "Yorkshire-ized" and the appearance of white roses in windows, on flags etc serves to rub salt in the wound.
It's like a micro Brexit thing but with Yorkshire people playing the part of the eastern Europeans.
I guess that although the traditional rivalry Derbyshire has is with Nottinghamshire, those who live in the northern part of the county feel the rivalry with Yorkshire more keenly.
In sport, Town's rivalry is certainly more with Mansfield - spiced up during the Miner's Strike and still pretty vicious. Derby are favoured - first visitors to the new ground etc. But the Yorkshire clubs aren't especially loved - bit IMO no more unloved than Yorkshire Cricket Club.