Try Ute Trail RV Park on the South side of Moab. It is a nice park with larger sites and shade trees. It is quiet. In town rv parks are closer to everything but have more noise.
Some people like to cover a lot of miles. I like 300 or so miles on two lane and 450 on the interestate. I also like the idea of a flexible itinery so if I see some place that looks interesting, I can stop.
There are some higher mountains coming out of Yellowstone, some flat sage brush land in the middle of Wyoming and lots of lower hills and curves in Utah.
Going home, I-70 through Colorado has two passes and a long descent into Denver but being an Interstate, grades are 6% or less and turns are not nearly as sharp. U.S. 50 through Colorado is two lane and has several higher passes with sharper curves and more than 6% grades. Or, you can go North to I-80 and have no mountains but less scenery.
I am sure you will work out an itinery where you will see lots of things but not beat yourself up. Enjoy your trip.