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Besides Bryce, Capital Reef, Canyonlands, Arches, North Rim of the Grand Canyon, Temple Square, Golden Spike National Historic Monument and the Great Salt Lake, there's not much. But you may need to get off I-15 for part of the trip.
On I15 coming into Idaho you can head towards soda springs and hit the Lava hot springs - nice facility with hot and cold pools and some slides and zip lines. Teton flood museum up on hwy 33. Take a detour off 33 towards Driggs Idaho there is green canyon hot springs - not sure that would take a 40ft. St. Anthony sand dunes, ice caves in the area too. If heading to Jackson I like hwy 26 better as there isn't a huge pass but a windy road around the lake between Idaho and alpine Wyoming. Fishing and white water rafting up that way as well.
On hwy 26 if you go that way to Jackson Wyoming in Ririe there is a 7n dinner show that is pretty cool along with Heise hot springs. Cabelas in Idaho Falls but a smaller strip mall store - not for big RV's. Craters of the moon is west of Idaho falls and is pretty cool. There is a nuclear plant museum out there as well. In Rigby Idaho there is the Philo T Farnsworth museum (he invented the television).
A ton of BLM and dry camping out towards west Yellowstone.
Have fun - Idaho is very nice if you know what to look for - I think Nina at wheelingit didn't like the Ririe RV parks. I think palisades damn park would take a 40ft rig.
Jim Aka RV-Writer
8 year US Navy Veteran - Lifetime VFW Member
1998 Holiday Rambler Endeavor - pending final sale
Will tow a 2006 GMC Envoy