The most popular RV parks in Moab are on the south side of town. The Archview Park is 8 miles north and actually closer to the entrance to Arches and the turn off to Canyonlands Island in the Sky section and Dead Horse Point state park. I spent 4 nights there in June, and easily spent 3 full days (2 in Arches and 1 in Canyonlands) in the NPs. Then half a day in Moab touristing and a couple of hours to Dead Horse Point SP. Also there is an interesting dinosaur track area just north of Archview that is worth a 1.5 hour side trip close to the highway. A lot of it depends on what your interests are. If you want to explore more or river raft, you could easily spend a week there.
One additional note: If you stay in Kanab or Panguitch between Zion and Bryce, be aware of the restrictions on the tunnel into Zion from the east. If you can, leave your RV parked and take your tow vehicle or Toad.
East of Bryce Canyon, Hwy 12 is the only way to go northeast through Escalante to Torrey. I've done that several times, the scenery is spectacular and different but I wasn't in an RV. From Torrey and Fruita, its Hwy 24 to intersect I-70 near Green River and then down to Moab. The only other good option is to go east from Kanab on US-89 to Page, but then you have to drop down into AZ and up through Monument Valley (AZ-98 to US-160 to US-163) but that is the long way around. That is the way I came home to Las Vegas.
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