Ditto on Dead Horse Point if you go to Moab. There is a nice reservable campground in the state park up there, a nearby BLM overflow CG (Horse Thief,) and permitted dispersed camping. You can drop your AS there while you tour Arches NP without it.
We normally visit southern Utah once or twice a year, having previously owned a second home in the state for many years. The crowd build-up between then and now is overwhelming, so we tend to seek out the less-visited places. There is a trade off between the beautiful world-class scenery in the popular parks, and getting into the back-of-beyond for us into scenery that is still incredibly beautiful, just not on everybody's iconic postcards.
For sure in the summer at the lower elevations, you'd want to think about AC. Normally it wouldn't be necessary at the higher elevations like Bryce. We seldom use our AC, but Zion Canyon is definitely the place.
You didn't mention dogs, but they are not allowed on most of the trails in the National Parks. Which is why it's good to know about the outlying BLM and USFS possibilities, where they're fine. There is also a nice kennel (Doggy Dude Ranch) outside of Zion in Rockville, UT that takes both day- and overnight dogs.
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