Doing some trip planing. The Good Sam Trip planner routed me from Grand Lakes CO onto HyWay 34 on my way to Minnosota in Aug. I have a 38 ft Class A with CAT 300 towing a Honda CR-V on dolly. ...
It's 10 miles above 10,000 feet with lots of switchbacks getting there. I would have the wife drive the CRV up over and save yourself a lot of white knuckle driving. There is not many places the pull over or passing zones so you're going to be holding up traffic. I would do Estes Park as a day trip in the CRV as compared to Grandlake it's just a big tourist trap. I would go south to I 70 east to Denver and on your way.