When I was a kid, many years ago, we had a stove that could have been used for exactly that. It had a spit for the joint of meat and a place underneath for the dripping pan. We never had Yorkshire Pudding. My mom was an American lady from Fargo North Dakota. I never had YP till well after I was married in 1966.
I found this but I'm sure you've already read it: A Brief History of Yorkshire Puddings:
'Yorkshires' have a humble origin back in the middle ages when they were known as 'dripping pudding'. The batter was cooked in a pan under the meat that was being roasted so that the fat and flavours from the meat were incorporated into the pudding. It was used as a 'filler' in hard times when there wasn't enough meat to go around, and even used as a main course on its own with onion gravy. Hannah Glasse, a housewife is credited with upgrading the original Dripping Pudding recipe to its status of Yorkshire Pudding. Her cookbook, The Art of Cookery was published in 1747 and was the best of its kind for decades.
Actually, I hadn't read it. I'd seen a program on the origins of pudding (Good Eats, or some similar show). Oh gawd I'm a dork.