Unfortunately, you're not getting a lot of individual park recommendations. You might look at Happy Trails Resort in Surprise, AZ. It's huge and has every activity imaginable including the going craze of pickleball. Here's a link:
Happy Trails Resort - Home Page
Most 55+ parks in the Phoenix area are huge, older and have lots of park models so be prepared. You also might want to try the east end of Apache Junction and Gold Canyon.
Folks will suggest Casa Grande also but that area, to us, gets a LOT of dust from the area farming.
Tucson has the Voyager RV, Lazy Days and a couple other nices ones.
Yuma will also have a lot of parks. Those are the 3 AZ areas to check out for warmer winter temps.
As far as a tour or just driving yourselves to Sedona/Grand Canyon - you can easily do it yourselves. They both have Visitor Centers with lots of suggested information for a look-see. Just check the weather report before you go but after today's winds, the weather should be o.k. Have a great trip!