If you go to cedar breaks you can drive to the top of brain head peak if the weather is nice, it's just north of the park via brain head peak rd
US 12 is a must see
the drive from Boulder to Escalante via hells backbone is really great (don't take your camper)
http://www.scenicbyway12.com/the-byw...cenic-backway/
Hogback on 12 is something you won't forget
http://www.scenicbyway12.com/the-byw...s/the-hogback/
Dinner in boulder at the hells backbone grill is a good stop
http://hellsbackbonegrill.com/
There is a good slot canyon south of Escalante on hole the the wall rd
http://www.americansouthwest.net/slo...ch/canyon.html
Don't go on the gravel roads if it's rain or going to
We did a three week trip in June and did about the same route your going to do.
Can provide more info if you need
John Miller and Family