To the OP - Glad you have found some way to enjoy your new Airstream. As I mentioned earlier, the first step before taking a big trip is getting comfortable with short trips. As to your ultimate question of;
"The question is how will I do so in the near term without having to fly out there?"
If you want to enjoy the west and not fly, you are going to have to drive. If you really want to explore the West I would suggest not waiting until you retire or waiting until it is more convenient for you. There are plenty of people who wait till the time is perfect and for many reasons they never get there. Life is short. Do what you want to do.
I agree with StreamNYtme that 3 weeks is not enough time to see more than 1 National Park. So, you just take them 1 at a time. Allow 1 week of travel time to get out and back. That gives you 2 weeks to enjoy 1 or maybe 2 National Parks. In Utah, there are about 4 National Parks in relatively close proximity. You have Yellowstone and Grand Tetons as neighbors. Rocky Mtn National Park / Mesa Verde and Dinosaur NP could be done in Combo as well. Each of those is doable over a 2 week time frame.
You will be exhausted getting there and back but that gives you 2 weeks to recover.
One summer my wife was not working. She drove the RV and kids from Charlotte, NC to Little Rock, Ark. I was on business in DC. I flew to Little Rock and took a taxi to the CG. We continued to our Western destination from there. Uncle Bob had a good option as well. You will have to consider doing a good winterization job for your RV and batteries to survive the winter. Do you have a friend or family out West that can store your RV on their property for a year to get 2 trips in?
We have driven 3 days straight to get to the Grand Canyon from the Carolina's. 35 hrs to get to Jackson Hole, WY. 32 hours straight from Steamboat Springs, CO. The drive it tough but they were all great trips. We were in our 40's - 50's when we did those. I'm 64 now and retired so I can afford to take my time now.
IMO, you can do whatever you want to do. Sometimes you have to think outside the box. Sometimes you just have to do it. If you have children, they will grow up fast. The best time to convince them to do this with you is when they don't know any better!
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2018 GMC Sierra 2500HD Duramax
Equal-I-zer Weight Distribution attached to the Gen-Y Torsion Flex Weight Distribution Hitch
"Roadrunner"
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