We did 3 of the 5 this year.
Zion - couldn’t get into the park so stayed at Zion Canyon RV park outside the park gate. You can walk or take a free shuttle to the park entrance. There is a free shuttle that runs from the park entrance to basically the end of the town of Springdale and back.
Bryce - Stayed at Ruby’s and took the shuttle into the park. Lots to do at and around Ruby’s within walking distance.
Capitol Reef - Did a drive thru to the end of the paved road in a 25’ class C. No issue. We stayed back at Thousand Lakes Campground - nice place.
We did Arches and Cayonlands in 2005 when we lived in CoSprings. Tent camped at the KOA in Moab and day tripped from there.
Here is our blog from this year’s trip including Zion, Bryce and CapReef to give you some ideas for stops along the way. Three months out and back from NC. Awesome trip.
https://sites.google.com/view/jkrvadventures/home