Assuming you are comfortable driving in the mountains you should have no problem in the MH. Traveling east to west, La Veta Pass is not bad. It will be steeper going up the east side, and more gradual doing down the west side. After reaching the San Luis valley it will be a relatively flat drive all the way to South Fork. Then you will approach Wolf Creek Pass. It is higher than La Veta Pass, but west bound is the easier direction. Much steeper and longer going down the west side. But two lanes all the way down so you can stay in the right lane and take it easy without holding up traffic. Then a fairly flat drive to Pagosa Springs.
From Pagosa to Taos you can take US 84 and US 64. Been a long time since I went that route, but no passes that I remember.
And yes, there is a lot of beautiful scenery in that country. And the highways are very good.