Good Morning NorCal27,
I live in Colorado Springs and have kids that live in Glenwood Springs. I've been through the mountains in Colorado in every direction and every weather variation. In other words I've been there and done that! I've done it countless times in a 1988 32' Bounder on a Chevy chassis with a 230 HP engine towing a Jeep Cherokee. That's a heavier motorhome with lots less motor than you have.
From your profile I see that you are driving a 2010 model F53. This drivetrain under a 30' motorhome gives you lots of reserve even towing your Jeep. Presuming your vehicles are in good condition the vehicles won't have any problems. You won't go fast but you will make it without any problems. Plenty of power going up and the tow/haul feature in your motorhome transmission makes many of the driving decisions for you on the downhill side. Just be sure to go down SLOW! 35 MPH or so on the steep portions of the road. Just take a deep breath...say "I think I can. I think I can. I think I can...I thought I could!
It's not your motorhome that is the limiting factor. It is your confidence.
The options Grand Junction/Denver either directions are few. Any alternative to I70 adds a LOT of miles and most don't take away the steep grades. Using US6 may reduce the grade some but it adds a LOT of curves on a two lane highway with limited passing lanes. You can't pass anyone and they can't pass you! I would rather do the long grades unless I were simply sightseeing.
Not said by others is that I70 has gotten into pretty bad shape. In places the road is really rough and pot holed. Heavy duty trucks have created big ruts in places. It's a bouncy ride. Your shocks and bump stops will get a work out!
If you really want to avoid the grades you could do this:
https://www.google.com/maps/dir/Gran...39.7392358!3e0
No real grades this route but yikes...makes a 4 hour trip into a 10 hour trip!
Your best option is to buckle up, take a deep breath, pay attention to your driving, don't grip the steering wheel too hard and take I70! Literally...millions of motorhomes towing a vehicle have made this trip. If they can...you can!