Update. Thank you everyone. This is what we did and will do.
From Torrey to Bryce. Took hwy 24 to 62, 62 to 22 into Bryce. Hwy 22 is decent road but not many people on it.
I took a road trip yesterday on hwy 12, through Escalante to the top of the grade to the view point and seen the beautiful view. Talked to a couple people coming from Torrey. Confirmed the scary part of road. The road itself is new and nice driving from ever where I seen.
On way back to Torrey we will take hwy 12 to 89 to 24 into Torrey.